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Abstract. Advancements in soil sensor technology have allowed for comprehensive measurements of soil physical characteristics. Sensor measurements help in understanding the qualities of the soil rooting zone; they can be used to create detailed soil maps to facilitate the application of site-specific management decisions for agriculture or resource management purposes. Currently, the benefits and widespread use of these advanced methods are hindered by several factors, including the ability to capture several soil properties at once, consistency between measurements, and the labour required to collect the data. This paper describes a partnership between the autonomous electric tractor company Ztractor and McGill University, for the development of a sensor system capable of capturing several soil physical characteristics at one time through on-the-spot measurements linked to the autonomous tractor Bearcub. Integrating traditional measurement techniques with automated functionality, the sensor platform, centered around a cone penetrometer, logs data for several soil physical properties to the tractor. The automated functionality seeks to improve the quality of data as all parameters in the testing process are standardized, eliminating inconsistencies caused by manual measurements.