A Distributed Multi-Agent Control Strategy for Agricultural Row Following

This paper presents a novel approach to integrate heterogeneous agents working in an agricultural scenario. We explore a multi-agent system, comprising both agricultural robots (AgBots) and human operators, that handles various tasks such as fruit picking and crop monitoring in row-planted environments like vineyards. Our key contribution is a distributed motion control strategy for collision avoidance, ensuring agents maintain safe distances from each other and crop rows without requiring direct communication or central coordination. The effectiveness of our approach is validated theoretically and demonstrated through numerical simulations in a Gazebo-based environment.