Abstract: A method and system provide the ability to autonomously navigate an orchard cart in an orchard. Data is received from a sensor suite of the orchard cart into a computer. The sensor suite includes two or more sensors with at least one positional sensor and at least one perception sensor. Based on the data, the computer detects objects in the orchard. A row in the orchard consists of the objects. The orchard cart is autonomously navigated, via the computer, through the orchard. The navigation includes autonomously positioning the orchard cart a defined distance from the detected objects with respect to the row, and autonomously maintaining a defined speed of the orchard cart as the orchard cart is navigated down the row, such that the orchard cart avoids the detected object.

Abstract: A method and system provide the ability to manage an orchard. Sensor data that represents a first state of the orchard is captured via one or more sensors. The sensor data is captured as the one or more sensors are traveling through the orchard. An almanac is maintained. The almanac provides a state library of sequential states of a representative orchard and a task library for one or more tasks to be performed to transition between the sequential states. A task manager queries the almanac to identify a first task of the one or more tasks and allocates the first task to one or more robots that perform the first task.