Autonomous integrated farming system

A center-pivot irrigation system comprising:

• a field engagement unit comprising a work tool assembly actuatable along a support system of the field engagement unit, wherein the work tool assembly comprises one or more sensors configured to measure one or more characteristics of at least one of plants or soil beneath the support assembly;
• and
• a controller, wherein the controller includes one or more processors configured to execute a set of program instructions stored in memory, wherein the program instructions are configured to cause the one or more processors to:
• control a position of the work tool assembly along the support assembly;
• direct the one or more sensors to capture one or more characteristics of the at least one of plants or soil beneath the support assembly;
• and
• perform at least one of a phenotyping analysis or soil analysis based on the one or more images of the one or more crops.