A system that includes an agricultural tractor that includes a steering mechanism for steering at least one surface-engaging member so as to cause changes in a direction of movement of the agricultural tractor; and an agricultural implement that is towed behind the agricultural tractor. The system further includes at least one forward sensor for sensing one or more objects or conditions located forwardly of the agricultural tractor and at least one lateral sensor for sensing one or more objects or conditions that when sensed are located laterally of the agricultural tractor or implement. The system further includes a controller that acts in dependence on at least one output of the at least one lateral sensor to take account of a presence of the one or more objects or conditions sensed by the at least one lateral sensor.

An autonomous skid-steer machine includes a chassis, a plurality of ground engaging elements supporting the chassis on a ground surface and one or more computing devices for controlling movement of the machine. The one or more computing devices are configured to generate a control signal for controlling operation of at least some of the plurality of ground engaging elements, the control signal being generated according to a control algorithm incorporating tuning parameters, and to automatically determine the tuning parameters in real time during operation of the machine such that the control algorithm is always optimized for a current speed of the machine. The tuning parameters are found using the machine's current speed, a natural frequency value and a damping value.

A guidance system identifies a parking path and a target point in a parking area. The guidance system calculates steering commands to steer the vehicle and trailer onto the parking path. The guidance system calculates a distance of the trailer from the target point and calculates speed commands for the vehicle based on the distance of the trailer from the target point. The guidance system sends the steering and speed commands to a steering and speed control system to steer the vehicle and move the trailer along the parking path until the trailer reaches the target point in the parking area.

A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.

An information map is obtained by an agricultural system. The information map maps values of a characteristic at different geographic locations in a worksite. An in-situ sensor detects tractive characteristic values as a mobile agricultural machine operates at the worksite. A predictive map generator generates a predictive map that maps predictive tractive characteristic values at different geographic locations in the worksite based on a relationship between values of the characteristic in the information map and tractive characteristic values detected by the in-situ sensor. The predictive map can be output and used in automated machine control.

One or more information maps are obtained by an agricultural work machine. The one or more information maps map one or more agricultural characteristic values at different geographic locations of a field. An in-situ sensor on the agricultural work machine senses an agricultural characteristic as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural characteristic at different locations in the field based on a relationship between the values in the one or more information maps and the agricultural characteristic sensed by the in-situ sensor. The predictive map can be output and used in automated machine control.

A tractor has a controller and at least one sensor-for sensing at least one swath line of crop material corresponding to a quantity of crop material per unit length of a swath. The controller operates in dependence on at least one output of the at least one sensor to operate a steering mechanism of the tractor such that a baler towed by the tractor follows a said swath line in a manner aligning ingestion of crop material into the baler for baling. The at least one sensor is operable to sense a swath line that is laterally offset from the direction of forward movement of the tractor.

A method for working a plot of land simultaneously by at least two agricultural robots operating autonomously and independently, in accordance with instructions and/or commands transmitted by a common central management and control system, includes subdividing said plot of land to be treated into at least two distinct work zones and allocating each work zone exclusively to one of the agricultural robots. At least during the working phase, the width of the majority of the work zones is equal to a multiple, greater than or equal to 1, of the working width of the agricultural robot to which it is exclusively allocated. During work on a plot of land, work zones not yet worked are exclusively allocated to various agricultural robots, respectively, in a gradual manner according to the completion of the work undertaken by the agricultural robots in the various zones allocated to them.

Various embodiments relate generally to computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include, receiving data representing a policy specifying a type of action for an agricultural object, selecting an emitter with which to perform a type of action for the agricultural object as one of one or more classified subsets, and configuring the agricultural projectile delivery system to activate an emitter to propel an agricultural projectile to intercept the agricultural object.

One or more information maps are obtained by an agricultural work machine. The one or more information maps map one or more agricultural characteristic values at different geographic locations of a field. An in-situ sensor on the agricultural work machine senses an agricultural characteristic as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural characteristic at different locations in the field based on a relationship between the values in the one or more information maps and the agricultural characteristic sensed by the in-situ sensor. The predictive map can be output and used in automated machine control.