## 1 Introduction  
During the last decade, robotic systems have gained popularity for solving tedious agricultural tasks in field operations. Agricultural field operations are quite complex and different robotic systems were developed to solve these complexities in agricultural field operations, such as seeding [1], weeding [2], harvesting [3], spraying [4], and fertilizing [5]. According to a market research firm, the agricultural robots market is expected to reach from USD 4.6 billion in 2020 to USD 20.3 billion by 2025 [6]. Considering the rapid growth expectation for the agricultural robot market, it shows that the use of robots will increase in all agricultural operations within the agriculture industry in the next 5 years. On the other hand, with the widespread use of robots, the concept of multi-robots, which are programmed to collaborate and form an ecosystem, will emerge for completing agricultural tasks. Over the next ten years, agricultural robot research needs to focus on the multi-robot systems that collaborate to successfully execute farming tasks [7]. Multi-robot systems consist of mobile robots that work together to accomplish agricultural tasks by moving around in the agricultural environment. Multi-robot systems can accomplish tasks not executable by a single mobile robot. In recent years, several researchers have investigated the development of mobile robot technology to optimize complex operations related to farming procedures and precision treatment [8; 9; 10]. Most of the proposed techniques are based on single-robot systems, but there are important reasons to consider multi-robot systems as a more advantageous approach for agricultural tasks. Multi-robot systems will direct the agriculture of the future due to the disadvantages of the single-robot systems such as the complexity of agricultural tasks, spatially distributed tasks, and the limited capabilities of single robots [11]. The important parts of the multi-robot system are the robot management system, anti-collision system, and real-time monitoring [12]. The multi-robot system has some advantages over single mobile robots, such as their effectiveness, efficiency, flexibility, and fault tolerance in precision farming applications [13]. The multi-robot systems are divided into two categories homogeneous and heterogeneous. In a homogeneous multi-robot system, the mobile robots each have their controller with the same mechanical structures and control mechanisms. On the other hand, in a heterogeneous multi-robot system, mobile robots may have different hardware structures and control mechanisms. Nevertheless, many agricultural applications require a heterogeneous multi-robot system. Although multi-robot systems have advantages like flexibility, scalability, and robustness in solving complex tasks for precision farming and large-scale agricultural applications, there is not much research on the use of multi-robot systems in the agricultural domain. Also, there is little research conducted on internal communication and radar system to avoid collisions for the multi-robot systems in precision farming applications. In the literature, some theoretical studies have been reported on multi-robot systems. The first real multi-robot system test has been conducted by the RHEA (Robotics and Associated High-technologies and Equipment for Agriculture) project for precision farming applications [14]. RHEA is an EC-funded research project to create a heterogeneous multi-robot system of small, collaborative ground and air robots equipped with advanced sensors, advanced end effectors, and improved decision control algorithms for both chemical and physical pest management [15]. [PERSON] et al. [16] developed multi-robot system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Also, researchers proposed a collision avoidance algorithm to avoid collisions between robots by using the wireless master-slave communication system.