Evaluation of a Spray Scheduling System**Funded by MBIE Multipurpose Orchard Robotics contract UOAX1414.

: There are many applications for outdoor automation in agriculture and horticulture that require liquid to be sprayed variably across a linear boom while a robotic vehicle moves the boom across a field or orchard. This paper examines the modification of an existing scheduling algorithm to take into account real-world effects on spray droplets targeted at overhead flowers. To test the algorithm modifications, a simulation was performed using several different robotic platform velocities to test the effectiveness of the system. These results were then compared to a statistical analysis to ensure their validity.