Abstract: A method includes receiving a current data sample relating to a tractor spraying in an agricultural block, wherein the current data sample includes a current location; calculating a shortest distance from the current location to each of a plurality of borders of the agricultural block; selecting a current sample lowest distance, the current sample lowest distance being a lowest one of the shortest distances; grouping the current data sample with at least one prior data sample to produce a line of data samples, wherein each of the at least one prior data sample has a corresponding prior sample lowest distance; calculating an average lowest distance for the line of samples; comparing the average lowest distance to a threshold distance; and discarding the current data sample and each of the at least one prior data sample if the average distance is less than the threshold value.

Abstract: At least some embodiments are directed to a system that captures a set of images via cameras positioned in a lot having a crop. The system determines based on image processing and the set of images a phenological and biological stage of the crop, and a type of pest affecting the crop. The system generates a recommendation including a type of pesticide, a concentration of the type of pesticide, and an amount of pesticide and generates a pest control implementation plan. The system generates instructions for an autonomous carrier to execute the pest control implementation plan. The instructions include instructions for the autonomous carrier to execute the pest control implementation plan and instructions to control pesticide spraying nozzles mounted in the autonomous carrier. The system monitors a traveled distance of the autonomous carrier and determines that the pest control implementation plan has been executed.