To date, the research on agriculture vehicles in general and Agriculture Mobile Robots (AMRs) in particular has focused on a single vehicle (robot) and its agriculture-specific capabilities. Very little work has explored the coordination of fleets of such vehicles in the daily execution of farmingtasks. This is especially the case when considering overall fleet performance, its efficiency and scalability in the context of highly automated agriculture vehicles that perform tasks throughout multiple fields potentially owned by different farmers and/or enterprises. The potential impact of automating AMR fleet coordination on commercial agriculture is immense. Major conglomerates with large and heterogeneous fleets of agriculture vehicles could operate on huge land areas without human operators to effect precision farming. In this paper, we propose the Agriculture Fleet Vehicle Routing Problem (AF-VRP) which, to the best of our knowledge, differs from any other version of the Vehicle Routing Problem studied so far. We focus on the dynamic and decentralised version of this problem applicable in environments involving multiple agriculture machinery and farm owners where concepts of fairness and equity must be considered. Such a problem combines three related problems: the dynamic assignment problem, the dynamic 3-index assignment problem and the capacitated arc routing problem. We review the state-of-the-art and categorise solution approaches as centralised, distributed and decentralised, based on the underlining decision-making context. Finally, we discuss open challenges in applying distributed and decentralised coordination approaches to this problem.

中文翻译：

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农业车队车辆路线选择：分散和动态的问题

迄今为止，对一般农业车辆，特别是农业移动机器人（AMR）的研究都集中在单一车辆（机器人）及其特定于农业的能力上。在日常执行农业任务中，很少有工作探索这种车辆的车队协调。当在高度自动化的农业车辆的环境中考虑整个车队的性能，效率和可扩展性时，尤其如此，这种农业车辆在可能由不同农民和/或企业拥有的多个领域中执行任务。AMR机队协调自动化对商业农业的潜在影响是巨大的。拥有庞大且种类繁多的农用车队的大型企业集团可以在广阔的土地上运营，而无需人工操作即可进行精确耕种。在本文中，我们提出了农业机队车辆路线问题（AF-VRP），据我们所知，该问题与迄今为止研究的任何其他版本的车辆路线问题不同。我们专注于此问题的动态和分散式版本，适用于涉及多个农业机械和农场主的环境，在其中必须考虑公平和公平的概念。这样的问题结合了三个相关的问题：动态分配问题，动态三索引分配问题和电容电弧布线问题。我们回顾了最新技术，并根据强调的决策环境将解决方案方法归类为集中式，分布式和分散式。最后，我们讨论了将分布式和分散式协调方法应用于此问题的开放性挑战。