The aim of ARPA was to provide three protocols of test in order to assess robots security functions. To design these protocols we decide to make a study of the possible causes of malfunction of the safety functions and to prioritize the elements to be tested. From the result of the study, we have designed three protocols of test in order to assess the most critical parameters of safety.

Then we have tested these three protocols with the robots of the industrial partners (AgreenCulture, Sitia and Vitibot) which allowed us to improve the protocols and to carry out collaborative work. During these tests we have also design several methods to execute the tests adapting the parameters of the protocols to the machine characteristics.

Therefore, we have now three protocols of test for agricultural robots safety assessment:

The first one, ARPA1, insure that the robot can avoid collision with reference obstacles as described in the NF_EN_ISO_18497-9-02-19 standard witch give some guaranty for obstacle with human shape.

The second one, ARPA2 deals with Perception system performances under harsh environmental conditions (rain, fog).

The third one, ARPA3 deals with geofencing function. The aim is to insure that the robot will respect the integrity of its working area.