A distributed control framework for motion coordination of teams of autonomous agricultural vehicles

► A distributed control framework for coordinating the motions of teams of autonomous agricultural vehicles operating in the same field. ► Nonlinear model predictive tracking controllers exchange information for coordinated motion. ► Support for master-slave and peer-to-peer modes of operation. ► Simulation experiments verified that vehicles alter their velocity profiles and/or the shapes of their paths to achieve a wide range of behaviours.