The mobile robot platform is driven by four brushed DC motors (312 RPM) with 537.7 PPR encoder resolution, enabling accurate locomotion control. Two stepper motors (12V, 0.33A, 0.23Nm, NEMA17 standard) were employed for actuating the weed removal robotic arm. The STM32F439 Nucleo-144 board, featuring an STM32F4 ARM® Cortex®-M4 32-bit MCU, served as the microcontroller, handling the locomotion control of the mobile robot. Adafruit 4007 ultrasonic sensors were positioned on the sides of the robot for collision avoidance. Additionally, an ICM-20948 9DOF IMU Breakout Board was used to measure the speed, acceleration, and orientation of the mobile platform (Figure S1).