Work package 2 of the Precision Technology Horticulture program focuses on autonomous weed removal. This final report contains four deliverables: D2.1 Module for recognition of red lettuce, D2.2 Vision based crop row guidance module, D2.3 Machine for hoeing more than 8 crop rows simultaneously, and D2.6 Actuator for controlling weeds in full field crops. D2.1 reports on the software for an extra colour segmentation algorithm that has been added to the Steketee IC-cultivator. With this algorithm it is possible to adequately detect and distinguish non green plants, such as red lettuce, from weeds. For D2.2 a standalone module for crop row guidance for hoeing between the row has been developed. D2.3 describes is the extension in hardware and software that makes it possible to hoe up to 24 crop rows simultaneously. For D2.6, research has been conducted into different robotic arms to move the end effector to the right spot for weed control in full field crops. Different arms are compared and the maximum possible driving speed was be calculated. A test device for full field weed control was build based on a x-z position unit. The chapter publications and media provides an overview of the dissemination of the project results throughout the duration of the project.