Abstract: A treatment mechanism for dispensing treatment fluid onto one or more plants in a field is described. The treatment mechanism includes a valve for regulating the dispensing of treatment fluid and a nozzle holder comprising a plurality of nozzles. Each nozzle is configured to dispense treatment fluid and to couple to the valve. The treatment mechanism further includes a control system configured to receive a plant treatment instruction for treating the plants. The plant treatment instruction includes a treatment position for the nozzle holder. The control system is further configured to determine a current position of the nozzle holder and adjust the current position of the nozzle holder to the treatment position for the nozzle holder. The control system is further configured to actuate the treatment mechanism such that the plants are treated via a nozzle of the plurality of nozzles.

Abstract: A vehicle moves through an environment (e.g., a farming, construction, mining, or forestry environment) and performs one or more actions in the environment. Portions of the environment may include moisture, such as puddles or mud patches. A control system associated with the vehicle may include a traversability model or a moisture model to help the vehicle operate in the environment with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the vehicle attempting to traverse an untraversable portion of the environment, and the control system may employ the moisture model to reduce the likelihood of the vehicle performing an action that will damage a portion of the environment.

Abstract: A treatment mechanism for dispensing treatment fluid onto one or more plants in a field is described. The treatment mechanism includes a valve for regulating the dispensing of treatment fluid and a nozzle holder comprising a plurality of nozzles. Each nozzle is configured to dispense treatment fluid and to couple to the valve. The treatment mechanism further includes a control system configured to receive a plant treatment instruction for treating the plants. The plant treatment instruction includes a treatment position for the nozzle holder. The control system is further configured to determine a current position of the nozzle holder and adjust the current position of the nozzle holder to the treatment position for the nozzle holder. The control system is further configured to actuate the treatment mechanism such that the plants are treated via a nozzle of the plurality of nozzles.

Abstract: A vehicle moves through an environment (e.g., a farming, construction, mining, or forestry environment) and performs one or more actions in the environment. Portions of the environment may include moisture, such as puddles or mud patches. A control system associated with the vehicle may include a traversability model or a moisture model to help the vehicle operate in the environment with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the vehicle attempting to traverse an untraversable portion of the environment, and the control system may employ the moisture model to reduce the likelihood of the vehicle performing an action that will damage a portion of the environment.

Abstract: As a farming machine travels through a field of plants, the farming machine operates in a normal operational state to perform one or more farming operations. The farming machine detects an operational failure of a component of the farming machine using measurements obtained from one or more sensors coupled to and monitoring the farming machine. The operational failure of the component impacts performance of a first farming operation of the farming operations. The farming machine configures the farming machine to operate in a remedial operational state. In the remedial operational state, the farming machine diagnoses the operational failure of the component using the obtained measurements. In the remedial operational state, the farming machine selects a solution operation to address the operational failure of the component based on the diagnosis. The farming machine performs the determined solution operation.

Abstract: Historical information is accessed that describes a previous state of a field, previous environmental conditions for the field, and previous farming machine actions performed in the field. A tank management model is applied to the historical information to determine expected weed densities within field portions and an amount of treatment fluid required to treat plants within the field. While the farming machine is treating plants in the field, current information describing a current state of the field is accessed. The tank management model is applied to the current information to determine updated weed densities within field portions not yet treated. The farming machine performs a modified plant treatment action based on the updated weed densities and a comparison of a remaining amount of treatment fluid within a tank of the farming machine and an updated amount of treatment fluid for treating plants within field portions not yet treated.

Abstract: Historical information is accessed that describes a previous state of a field, previous environmental conditions for the field, and previous farming machine actions performed in the field. A tank management model is applied to the historical information to determine expected weed densities within field portions and an amount of treatment fluid required to treat plants within the field. While the farming machine is treating plants in the field, current information describing a current state of the field is accessed. The tank management model is applied to the current information to determine updated weed densities within field portions not yet treated. The farming machine performs a modified plant treatment action based on the updated weed densities and a comparison of a remaining amount of treatment fluid within a tank of the farming machine and an updated amount of treatment fluid for treating plants within field portions not yet treated.

Abstract: As a farming machine travels through a field of plants, the farming machine operates in a normal operational state to perform one or more farming operations. The farming machine detects an operational failure of a component of the farming machine using measurements obtained from one or more sensors coupled to and monitoring the farming machine. The operational failure of the component impacts performance of a first farming operation of the farming operations. The farming machine configures the farming machine to operate in a remedial operational state. In the remedial operational state, the farming machine diagnoses the operational failure of the component using the obtained measurements. In the remedial operational state, the farming machine selects a solution operation to address the operational failure of the component based on the diagnosis. The farming machine performs the determined solution operation.

Abstract: A farming machine is configured to autonomously operate in a field to accomplish a farming objective. While doing so the farming machine can dynamically modify treatment plans and/or generate experimental treatment plans. Dynamically modifying treatment plans includes modifying, delaying, accelerating, adding, and/or removing farming actions in a treatment plan. Generating an experimental treatment plan includes intentionally modifying a treatment plan to induce a variance in a result, measuring the result, and determining whether the result from the experimental treatment plan is better than the unmodified treatment plan. The farming machine is also configured to generate user interactable feedback, and receive user generated instruction, to dynamically modify treatment plans and/or generate experimental treatment plans.

Abstract: As a farming machine travels through a field of plants, the farming machine operates in a normal operational state to perform one or more farming operations. The farming machine detects an operational failure of a component of the farming machine using measurements obtained from one or more sensors coupled to and monitoring the farming machine. The operational failure of the component impacts performance of a first farming operation of the farming operations. The farming machine configures the farming machine to operate in a remedial operational state. In the remedial operational state, the farming machine diagnoses the operational failure of the component using the obtained measurements. In the remedial operational state, the farming machine selects a solution operation to address the operational failure of the component based on the diagnosis. The farming machine performs the determined solution operation.

Abstract: As a farming machine travels through a field of plants, the farming machine operates in a normal operational state to perform one or more farming operations. The farming machine detects an operational failure of a component of the farming machine using measurements obtained from one or more sensors coupled to and monitoring the farming machine. The operational failure of the component impacts performance of a first farming operation of the farming operations. The farming machine configures the farming machine to operate in a remedial operational state. In the remedial operational state, the farming machine diagnoses the operational failure of the component using the obtained measurements. In the remedial operational state, the farming machine selects a solution operation to address the operational failure of the component based on the diagnosis. The farming machine performs the determined solution operation.

Abstract: As a farming machine travels through a field of plants, the farming machine operates in a normal operational state to perform one or more farming operations. The farming machine detects an operational failure of a component of the farming machine using measurements obtained from one or more sensors coupled to and monitoring the farming machine. The operational failure of the component impacts performance of a first farming operation of the farming operations. The farming machine configures the farming machine to operate in a remedial operational state. In the remedial operational state, the farming machine diagnoses the operational failure of the component using the obtained measurements. In the remedial operational state, the farming machine selects a solution operation to address the operational failure of the component based on the diagnosis. The farming machine performs the determined solution operation.

Abstract: Historical information is accessed that describes a previous state of a field, previous environmental conditions for the field, and previous farming machine actions performed in the field. A tank management model is applied to the historical information to determine expected weed densities within field portions and an amount of treatment fluid required to treat plants within the field. While the farming machine is treating plants in the field, current information describing a current state of the field is accessed. The tank management model is applied to the current information to determine updated weed densities within field portions not yet treated. The farming machine performs a modified plant treatment action based on the updated weed densities and a comparison of a remaining amount of treatment fluid within a tank of the farming machine and an updated amount of treatment fluid for treating plants within field portions not yet treated.

Abstract: A vehicle moves through an environment (e.g., a farming, construction, mining, or forestry environment) and performs one or more actions in the environment. Portions of the environment may include moisture, such as puddles or mud patches. A control system associated with the vehicle may include a traversability model or a moisture model to help the vehicle operate in the environment with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the vehicle attempting to traverse an untraversable portion of the environment, and the control system may employ the moisture model to reduce the likelihood of the vehicle performing an action that will damage a portion of the environment.

Abstract: A treatment mechanism for dispensing treatment fluid onto one or more plants in a field is described. The treatment mechanism includes a valve for regulating the dispensing of treatment fluid and a nozzle holder comprising a plurality of nozzles. Each nozzle is configured to dispense treatment fluid and to couple to the valve. The treatment mechanism further includes a control system configured to receive a plant treatment instruction for treating the plants. The plant treatment instruction includes a treatment position for the nozzle holder. The control system is further configured to determine a current position of the nozzle holder and adjust the current position of the nozzle holder to the treatment position for the nozzle holder. The control system is further configured to actuate the treatment mechanism such that the plants are treated via a nozzle of the plurality of nozzles.