Spray performance deviation detection

An autonomous agricultural vehicle, comprising:

• one or more processors;
• and
• memory operatively coupled to the one or more processors and comprising instructions that, when executed by the one or more processors, causes the one or more processors to:
• access, for each of a plurality of spray nozzles of the autonomous agricultural vehicle, a set of instructions provided by the autonomous agricultural vehicle to the spray nozzle, each instruction in the set generated by analyzing a respective image of a portion of a geographic area captured by the autonomous agricultural vehicle;
• generate, for each of the plurality of spray nozzles, a composite score based on the set of instructions provided by the autonomous agricultural vehicle to the spray nozzle;
• use the composite scores respectively generated for the plurality of spray nozzles to identify a spray performance of at least one spray nozzle from among the plurality of spray nozzles as an outlier;
• and
• perform a spray operation in a fallback mode with respect to the at least one spray nozzle identified as the outlier.

A non-transitory computer-readable recording medium storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• accessing, for each of a plurality of spray nozzles of an autonomous agricultural vehicle, a set of instructions provided by the autonomous agricultural vehicle to the spray nozzle, each instruction in the set generated by analyzing a respective image of a portion of a geographic area captured by the autonomous agricultural vehicle;
• generating, for each of the plurality of spray nozzles, a composite score based on the set of instructions provided by the autonomous agricultural vehicle to the spray nozzle;
• using the composite scores respectively generated for the plurality of spray nozzles to identify a spray performance of at least one spray nozzle from among the plurality of spray nozzles as an outlier;
• and
• performing a spray operation in a fallback mode with respect to the at least one spray nozzle identified as the outlier.