## 1 Introduction
Thus, drift can occur in two stages: small droplets are carried away during spraying (primary drift), and droplets deposited on the plant after spraying are carried outside the spray zone by evaporation and vapor formation (secondary drift) [26; 27]. It is therefore necessary to find the optimal solution to spray the plant with the right quantity of plant protection products and to minimize the environmental impact of spray drift [23]. Chemical, organizational, technological, and technical measures are used to minimize (reduce) the environmental problems caused by spraying, especially spray drift [28]. The use of chemical spray additives, also known as adjuvants, can change the physical and chemical properties of the solution. This results in better spray quality. Adjuvants are classified according to their chemical composition and their effect on the spraying process as surfactants, spreaders, stickers, cosolvents, wetting agents, pH modifiers, defoaming or antifoaming agents, and drift retardant or drift reduction agents (DRAs) [29; 30]. In sprayed fluid flow, DRAs help to reduce the size range of droplet dispersion and the amount of fine droplets [31]. The optimization of spray parameters depends on the composition of the sprayed material and the leaf characteristics of the plant. It is recommended to apply droplets with a diameter of 150-300 \(\upmu\)m, which are large enough to be less affected by spray drift and not too large to bounce off the sprayed plant [32]. With some DRAs, spray drift can be reduced by up to 60.5% [33]. The organizational measures are based on the application of various directives, standards, and methodologies [34; 35; 36; 37] to improve the results of spray application. The requirements of these measures define buffer zones that allow the separation of the spray zone from non-target zones to reduce pollution from plant protection products [38]. Weather conditions--rain, wind, and relative humidity--are also important [28; 39]. Exceeding the weather parameters with precipitation >1-3 mm d\({}^{-1}\), relative humidity <30% and >95%, temperature >28-30 \({}^{\circ}\)C, and wind velocity >3-4 m s\({}^{-1}\) will result in ineffective spraying and environmental pollution [39]. The quality of spraying operations is improved by the determination of technological parameters of agricultural sprayers--spray pressure, spray rate, spray travel velocity, the amount and velocity of air flow generated by the fan of the sprayer, and the distance from the nozzle to the plant [40; 41]. Technical measures include the use of low-drift nozzles [42]. As the size of the spray droplets ranges from 50 \(\upmu\)m to 200 \(\upmu\)m, which results in high downwind drift [43], the use of air induction nozzles has been introduced [43; 44]. They produce larger diameter droplets and, due to their design, the pressure of the liquid inside the nozzle is reduced to allow air to pass through the cavities on the sides of the nozzle (Venturi effect) to form droplets [44]. Tunnel sprayers are another technical tool to reduce the impact of spray drift when spraying gardens [45]. These sprayers are equipped with counter-shields that cover the zone of the row of plants to be sprayed, thus protecting the spray droplets from the effects of lateral wind [46]. The effect of the shields allows spraying at lower rates of about 50-70% during early growth stages and about 15-30% when the foliage is fully developed [47]. In the search for new technical solutions and the development and introduction of various new technologies for efficient spraying of plant protection products, more and more machine manufacturers have started to focus on robots [48]. Various smart technologies used in agricultural spraying robots can be used to accurately and efficiently apply crop protection products to the target zone [49]. The operator no longer needs to be directly involved in the spraying process and the machine does the job without human intervention [49].