During the last few years, the field of agriculture has seen a revolution carried out by the application of new technologies in the field of machine learning, computer vision, automation and decision-making with the goal of not only improving the efficiency and yield of the crops but also reducing costs and environmental impact. This is achieved by analysing data on the crops and terrain in order to determine the best treatment and by designing systems that optimise the delivery of chemicals. With this vision in mind, the Precision Spraying project, developed by the Department of Agricultural, Forest and Food Sciences at the University of Turin, aims at developing a fully autonomous Unmanned Aerial Vehicle (UAV) system capable of performing precision spraying missions in vineyards.