Geofenced Unmanned Aerial Robotic Defender for Deer Detection and Deterrence (GUARD)

--Wildlife-induced crop damage, particularly from deer, threatens agricultural productivity. Traditional deterrence methods often fall short in scalability, responsiveness, and adaptability to diverse farmland environments. This paper presents an integrated unmanned aerial vehicle (UA V) system designed for autonomous wildlife deterrence, developed as part of the Farm Robotics Challenge. Our system combines a YOLO-based real-time computer vision module for deer detection, an energy-efficient coverage path planning algorithm for efficient field monitoring, and an autonomous charging station for continuous operation of the UA V . In collaboration with a local Minnesota farmer, the system is tailored to address practical constraints such as terrain, infrastructure limitations, and animal behavior . The solution is evaluated through a combination of simulation and field testing, demonstrating robust detection accuracy, efficient coverage, and extended operational time. Crop damage caused by wildlife, particularly deer incursions, represents a challenge for modern agriculture. Deer damage to crops is responsible for disagreements among farmers, hunters, and the Department of Natural Resources over how the deer population should be controlled [1].