After the sensor network is established, several robots will be sent into the field for mapping and initial inventory. These robots, known as hunter robots will be equipped with the tools necessary to take DNA samples from every plant on the field. For navigation in the field, the robots use a virtual map combined with range finding sensors. At the beginning, the virtual map contains nothing but the general plot areas of the farm. The hunter robots seek out the plot areas and map out navigable paths in each plot area by using the drunken sailor approach. To start the mapping process, a robot will circle around a plot area until it finds an area not blocked by plants. It will then head down that path until it gets too close to an obstacle, and then it will shift its direction until it reaches another obstacle, and so on. As the robot does this, it records the distances and directions traveled. Upon return to the base station, the robot overlays its paths on the base station's virtual map for sharing. As more and more robots report their paths, the virtual map assigns greater confidence values locations of paths. In this way, the virtual map "learns" where everything is, and the robots can rely more on the shared virtual map and less on their own sensors.
With the map established, the robots determine and record the plants' locations. After collecting the samples, the robots will return to the base station where the samples will be subjected to numerous tests that can identify the plant. The laboratory will contain a revolutionary device-a recent invention that can perform "instant" DNA tests [8]. This invention will utilize silicon to shorten DNA amplification from several hours to just a few minutes. Using this new device, the lab will be able to quickly compare the DNA structure of a plant to a known structure, thus establishing and verifying the identity and location of all plants on the field. Because each type of plant has a unique DNA pattern, being able to identify and test plant DNA will be efficient and effective. The tests will include but will not be limited to "instant" DNA tests, mass tests, texture tests, and color tests. After performing the DNA test on each plant, the lab will note the type and location of each plant. After the initial inventory, the hunter robot, while making its rounds about the farm fields, will collect samples from new plants. The plant sample will be taken with a circular projection which will be placed into contact with the plant (see Figure). Finally, instead of wheels, as is most commonplace today, both the hunter and master robots will use treads to navigate through the fields. This mechanism will help the robots avoid soil erosion while also being able to move quickly throughout the field.