Abstract: Control systems and methods for coordinating multiple agricultural machines for operation on an agricultural field are provided. Each machine may receive field data for an agricultural field that optionally includes a plurality of pre-defined swaths. Each machine may receive state data from other machine(s). The state data for the other machine(s) may include a next swath and a current swath. Each machine may, after an indication of a start of its current swath, determine a next swath based on open swaths and the state data for the other machine(s). A next swath may also be determined using vehicle kinematic data, and conflicts between machines may be resolved.