Fuente: WIPO "tomato" A multimode autonomous farming machine capable of performing uniform and variable plant treatments including defoliation is described. This farming machine is capable of operating in various operational modes and treatment configurations, such as broadcast or spot mode, and uniform or variable treatment mode. In addition, the machine adjusts its mode and treatment configuration based on various factors such as present conditions in the operating environment, conditions of the farming machine itself, the treatment plan, and farming objectives. The autonomous machine uses a control system to input various data measurements to inform the appropriate mode(s) and treatment. Dynamic treatment mode selection increases efficiency and resource production in an agricultural field.