Fuente: Wipo "precision agriculture" A system for agricultural machine guidance having at least two sensors (220), at least one front sensor (302, 304) to capture front information corresponding to an area of a crop field (401) in front of a machine (300) moving through the field and at least one side sensor (306, 308) to capture side information corresponding to an area of the field (405) to a side of the machine (300). The system also includes a location tracking system (215) to record a geographic location of the machine (300). The system also includes a computing system (200) to determine front and side attributes of the field based on the captured information, wherein the determined attributes include crop lodging areas (1008, 1009, 1006a, 1008b, 1018, 1019). The computing system (200) also determines a front location and a side location of the field based on the recorded geographic location of the machine (300). After associating the attributes with the locations, respectively, the computing system (200) generates route instructions (228) for the machine (300) based on the associations.