**5. Conclusion**

This paper discusses the current state of the art regarding the use of multirotor UAVs for spraying tasks in precise agriculture. The possibilities of application of the proposed autonomous aerial robotic system consisting of a mobile base station and a multirotor type of UAV were demonstrated. The purpose of the presented system was to autonomously perform spraying tasks on different ranges of surfaces, including large crops parcels. In such a system, special emphasis was placed on the functions of

the mobile base station, which had to provide support for autonomous spraying and be a user interface. By selecting the correct components and parameters of the aircraft system, satisfactory spraying coverage, flight performance, and flight duration were achieved. In the future work, it is planned in the first phase to prototype the aircraft and then extensive testing of the control module. In the second phase, it is planned to design custom aircraft equipment and a mobile base station.
