A computer-implemented method performed by one or more processors for selectively determining one or more areas of a worksite for treatment, the method comprising the following operations: receiving soil parameter data of a worksite, the soil parameter data comprising soil compaction data; generating a soil parameter map based on the received soil parameter data comprising generating a soil compaction map; generating a plan of action based on the soil parameter map, the plan of action defining an operation of an agricultural machine according to the soil parameter map; and controlling the operation of the agricultural machine according to the plan of action, wherein generating a plan of action based on the soil parameter map comprises determining one or more locations of the worksite having soil compaction at or above a selected level, and wherein controlling the operation of the agricultural machine according to the plan of action comprises operating the agricultural machine to selectively till the one or more locations of the worksite having soil compaction at or above the selected level; characterized by further comprising: receiving image data of the worksite from a sensor including one or more cameras taking images using an infrared range to obtain an infrared image of the worksite; and extracting the soil compaction data of the worksite from the received image data including the steps of determining soil temperatures from the infrared image of the worksite and deriving thermal latency data from the determined soil temperatures. receiving soil parameter data of a worksite, the soil parameter data comprising soil compaction data; generating a soil parameter map based on the received soil parameter data comprising generating a soil compaction map; generating a plan of action based on the soil parameter map, the plan of action defining an operation of an agricultural machine according to the soil parameter map; and controlling the operation of the agricultural machine according to the plan of action, wherein generating a plan of action based on the soil parameter map comprises determining one or more locations of the worksite having soil compaction at or above a selected level, and wherein controlling the operation of the agricultural machine according to the plan of action comprises operating the agricultural machine to selectively till the one or more locations of the worksite having soil compaction at or above the selected level; characterized by further comprising: receiving image data of the worksite from a sensor including one or more cameras taking images using an infrared range to obtain an infrared image of the worksite; and extracting the soil compaction data of the worksite from the received image data including the steps of determining soil temperatures from the infrared image of the worksite and deriving thermal latency data from the determined soil temperatures. receiving image data of the worksite from a sensor including one or more cameras taking images using an infrared range to obtain an infrared image of the worksite; and extracting the soil compaction data of the worksite from the received image data including the steps of determining soil temperatures from the infrared image of the worksite and deriving thermal latency data from the determined soil temperatures. <EOS>