I read another topic where people have been suggesting no go zones below tool bays etc, I think this could be extended so you don’t wipe out your plants too. The problem is they grow.
Using photogrammetry you can map a 3D map of all the plants. There are open-source photogrammetry libraries, like https://github.com/openMVG/openMVG
http://www.regard3d.org/
And many more, just google them.
I’m not a developer, so if you are reading this don’t think that I could do this, it’s an idea for those that know what they are doing.
I think this would be a great way to ensure that farmbot doesn’t harm the plants or it’s self by building a 3d model of the bed using the camera every few days, then locking out these zones as no travel zones.