The robots consist of a iRobot Create mobile base, a CrustCrawler4-DOF robotic arm and gripper with force-feedback sensor, a LynxMotion servo control board, a Logitech Webcam, a water storage system and pump, and an Intel Duo notebook. Since the project start in Summer 2008, the robots have continuously evolved.

On the long run, the robot should execute the following task in response to the status of the plants:

-watering
-weeding
-estimating plant status (number of fruits, maturity, size)
-foraging
-cleaning (removing dead leaves)

During the class of 2008, the students achieved autonomous navigation to pots, inverse kinematics for watering and approaching known fruit locations, visual servoing to red fruits, recognition of green and red fruit using boosting, and networking between plants and robots using wireless mesh networks.