The introduction of robotics into the precision agriculture sector requires platforms capable of operating in unstructured environments, where the interaction between soil and vehicle becomes a critical factor for motion. This thesis describes the development of AgriMaRo, an omnidirectional robotic platform designed for complex agricultural contexts. The proposed solution adopts a three-wheeled kinematic configuration, featuring one translating wheel to allow the robot to adapt to various crop geometries and variations in row width. The work begins with an analysis of the state of the art and the platform architecture, describing its functionalities and the original sensor suite. Throughout the discussion, it is highlighted that the initial equipment was insufficient to accurately describe the vehicle's dynamics; consequently, a targeted analysis was conducted to identify new transducers, leading to their physical integration into the AgriMaRo system.