CableTract: A Co-Designed Cable-Driven Field Robot for Low-Compaction, Off-Grid Capable Agriculture
Ozgur Yilmaz

TL;DR
CableTract introduces a novel cable-driven field robot with a co-designed architecture, enabling low-compaction, energy-efficient, off-grid agricultural operations through an integrated, open-source simulation framework.
Contribution
The paper presents a comprehensive, reproducible framework for designing and analyzing cable-driven agricultural robots, exemplified by CableTract, integrating mechanics, energy, economics, and environmental factors.
Findings
Energy and compaction advantages demonstrated for CableTract.
Potential for off-grid operation shown through simulation.
Open-source framework enables reproducible analysis.
Abstract
Conventional field operations spend most of their energy moving the tractor body, not the implement. Yet feasibility studies for novel agricultural vehicles rarely tie mechanics, energy harvest, draft, field geometry, economics, life-cycle CO2, and uncertainty quantification together on a single reproducible code path. This paper builds such a framework and applies it to CableTract, a two-module cable-driven field robot. A stationary Main Unit (winch + motor + battery + harvester module) (MU) and a lighter Anchor module (held by helical screw piles) tension a cable across a strip while a lightweight implement carriage rolls along it. The heavy bodies stay on the headland; only the carriage enters the field. The carriage runs a 10-implement library co-designed for the cable architecture. This co-design is the paper's central analytical lever. The framework is prototype-free. It chains a…
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