Spraying in agriculture represents a societal challenge due to its negative impact in human and animal health and in the environment. Increasing spraying efficiency towards the objective of "right time, right amount, right place", involves the reduction of losses and, consequently, the amount of phytopharmaceuticals used, water usage, and human and animal exposure to pesticides, and the increase of the spraying system availability while reducing labour costs. Furthermore, the adoption of new ecological spraying treatments to increase both yield and treatment efficiency is desirable. Agriculture in rough terrain is also challenging, due to the steepness of some terrain, lack of space to manoeuvre, difficulties of communication due to natural obstacles and the associated harsh atmospheric conditions. To cope with these challenges a consortium with complementary precision farming actors was formed for the SCORPION project, bringing together steep slope vineyards associations (CERVIM, INNOVI), robotics and agricultural machinery RTD institutions (INESC, EUT, and CNR-STEMS, WUR), SMEs and large company (TEYME, Deimos, SPI), and an institution devoted to innovation in the sector (IPN).