  Automation in farming processes is a growing field of research in both
academia and industries. A considerable amount of work has been put into this
field to develop systems robust enough for farming. Terrace farming, in
particular, provides a varying set of challenges, including robust stair
climbing methods and stable navigation in unstructured terrains. We propose the
design of a novel autonomous terrace farming robot, Aarohi, that can
effectively climb steep terraces of considerable heights and execute several
farming operations. The design optimisation strategy for the overall mechanical
structure is elucidated. Further, the embedded and software architecture along
with fail-safe strategies are presented for a working prototype. Algorithms for
autonomous traversal over the terrace steps using the scissor lift mechanism
and performing various farming operations have also been discussed. The
adaptability of the design to specific operational requirements and modular
farm tools allow Aarohi to be customised for a wide variety of use cases.
