Abstract: A system for refilling a resource of an agricultural system includes the agricultural system including a tank that stores the resource. The system also includes a support vehicle including a container that stores the resource, a locating system that outputs a first signal indicative of a position of the support vehicle, a transfer system that includes a resource transfer device, and a controller communicatively coupled to the locating system and the transfer system including a processor and a memory. The controller determines a target location in a field to position the support vehicle, control the support vehicle such that the support vehicle is directed toward the target location, and instruct the transfer system to activate the resource transfer device to transfer the resource from the container to the tank while the position of the agricultural system is within a threshold distance of the target location.