An agricultural machine (100; 200) comprising: a seeding system (202; 716) comprising a plurality of row units , each row unit configured to meter and deliver seed; and a control system configured to: obtain a seed planting model that identifies a plurality of seed planting locations on a worksite; identify a machine path on the worksite; identify, based on the machine path, a set of the seed planting locations for each of the row units ; and control each row unit to deliver seeds to the set of seed planting locations identified for the row unit , the control system further comprising a machine path generation logic configured to generate a plurality of potential machine paths, and to select the machine path from the plurality of potential machine paths, characterized in that the machine path generation logic comprises planting error determination logic configured to: for each potential machine path, identify planting position errors based on the plurality of seed planting locations relative to the potential machine path, and generate an aggregate planting error metric indicative of an aggregation of the planting position errors; and select the machine path based on the aggregate planting error metrics for the plurality of potential machine paths. a seeding system (202; 716) comprising a plurality of row units , each row unit configured to meter and deliver seed; and a control system configured to: obtain a seed planting model that identifies a plurality of seed planting locations on a worksite; identify a machine path on the worksite; identify, based on the machine path, a set of the seed planting locations for each of the row units ; and control each row unit to deliver seeds to the set of seed planting locations identified for the row unit , obtain a seed planting model that identifies a plurality of seed planting locations on a worksite; identify a machine path on the worksite; identify, based on the machine path, a set of the seed planting locations for each of the row units ; and control each row unit to deliver seeds to the set of seed planting locations identified for the row unit , the control system further comprising a machine path generation logic configured to generate a plurality of potential machine paths, and to select the machine path from the plurality of potential machine paths, characterized in that the machine path generation logic comprises planting error determination logic configured to: for each potential machine path, identify planting position errors based on the plurality of seed planting locations relative to the potential machine path, and generate an aggregate planting error metric indicative of an aggregation of the planting position errors; and select the machine path based on the aggregate planting error metrics for the plurality of potential machine paths. identify planting position errors based on the plurality of seed planting locations relative to the potential machine path, and generate an aggregate planting error metric indicative of an aggregation of the planting position errors; and select the machine path based on the aggregate planting error metrics for the plurality of potential machine paths. <EOS>