Boom sprayer including machine feedback control

A non-transitory computer readable storage medium storing instructions for controlling a plurality of actuation controllers of a plurality of components of a boom sprayer to treat plants encoded thereon that, when executed by one or more processors, cause the one or more processors to perform the steps including:

• determining a state vector comprising a plurality of state elements, each of the state elements representing a measurement of a state of a subset of the plurality of components of the boom sprayer, and each of the plurality of components controlled by an actuation controller communicatively coupled to a computer mounted on the boom sprayer;
• inputting, using the computer, the state vector into a control model to generate an action vector comprising a plurality of action elements for the boom sprayer, each of the action elements specifying an action to be taken by the boom sprayer in the plant field, and the actions, in aggregate, predicted to optimize one or more performance metrics of the boom sprayer;
• and
• actuating a subset of the plurality of actuation controllers to execute the actions in the plant field based on the action vector, the subset of actuation controllers changing a configuration of the subset of components such that the state of the boom sprayer changes, and wherein actuating the subset of actuation controllers comprises:
• determining a set of machine instructions in each actuation controller of the subset such that the machine instructions change the configuration of each component when received by the actuation controller,
• accessing a data network communicatively coupling the actuation controllers;
• and
• sending the set of machine instructions to each actuation controller of the subset via the data network.

A boom sprayer comprising:

• one or more spray mechanisms;
• one or more actuation controllers communicatively coupled to the one or more spray mechanisms and for controlling the one or more spray mechanisms;
• one or more computer processors;
• and
• a computer-readable storage medium storing instructions that when executed causes one or more processors to:
• determine a state vector comprising a plurality of state elements, each of the state elements representing a measurement of a state of a subset of the plurality of components of the boom sprayer, and each of the plurality of components controlled by an actuation controller communicatively coupled to a computer mounted on the boom sprayer;
• input, using the one or more computer processors, the state vector into a control model to generate an action vector comprising a plurality of action elements for the boom sprayer, each of the action elements specifying an action to be taken by the boom sprayer in the plant field, and the actions, in aggregate, predicted to optimize one or more performance metrics of the boom sprayer;
• and
• actuate a subset of the plurality of actuation controllers to execute the actions in the plant field based on the action vector, the subset of actuation controllers changing a configuration of the subset of components such that the state of the boom sprayer changes, and wherein actuating the subset of actuation controllers comprises:
• determining a set of machine instructions in each actuation controller of the subset such that the machine instructions change the configuration of each component when received by the actuation controller,
• accessing a data network communicatively coupling the actuation controllers;
• and
• sending the set of machine instructions to each actuation controller of the subset via the data network.