A control system for an off-road vehicle, comprising: memory (50, 72) storing instructions; a processor (48, 70) configured to execute the instructions to cause the processor (48, 70) to: determine whether a first contour of a first edge of a field (14, 120, 150) differs from a second contour of a second edge of the field (14, 120, 150) that is on an opposite side of the field from the first edge; and if the first contour differs from the second contour, determine a pre-planned route of travel through the field for the off-road vehicle, wherein the pre-planned route includes: a first pass of the off-road vehicle that follows the first contour at the first edge; subsequent passes of the off-road vehicle to incrementally shift from the first contour to the second contour using partial overlaps of passes of an implement towed by or integrated into the off-road vehicle; and a final pass of the off-road vehicle that follows the second contour at the second edge; characterized in that the instructions are further configured to cause the processor (48, 70) to: determine whether a row, defined as partial row, that is less than a full swath width would exist using the pre-planned route, wherein said swath width is the width of a single pass of the implement through the field; and if said partial row would exist, adjust the determined pre-planned route to eliminate said partial row by dividing the width of the partial row between said overlap areas of each pass of the implement and control the off-road vehicle to traverse the field along substantially parallel rows based at least in part on the pre-planned route. memory (50, 72) storing instructions; a processor (48, 70) configured to execute the instructions to cause the processor (48, 70) to: determine whether a first contour of a first edge of a field (14, 120, 150) differs from a second contour of a second edge of the field (14, 120, 150) that is on an opposite side of the field from the first edge; and if the first contour differs from the second contour, determine a pre-planned route of travel through the field for the off-road vehicle, wherein the pre-planned route includes: a first pass of the off-road vehicle that follows the first contour at the first edge; subsequent passes of the off-road vehicle to incrementally shift from the first contour to the second contour using partial overlaps of passes of an implement towed by or integrated into the off-road vehicle; and a final pass of the off-road vehicle that follows the second contour at the second edge; determine whether a first contour of a first edge of a field (14, 120, 150) differs from a second contour of a second edge of the field (14, 120, 150) that is on an opposite side of the field from the first edge; and if the first contour differs from the second contour, determine a pre-planned route of travel through the field for the off-road vehicle, wherein the pre-planned route includes: a first pass of the off-road vehicle that follows the first contour at the first edge; subsequent passes of the off-road vehicle to incrementally shift from the first contour to the second contour using partial overlaps of passes of an implement towed by or integrated into the off-road vehicle; and a final pass of the off-road vehicle that follows the second contour at the second edge; a first pass of the off-road vehicle that follows the first contour at the first edge; subsequent passes of the off-road vehicle to incrementally shift from the first contour to the second contour using partial overlaps of passes of an implement towed by or integrated into the off-road vehicle; and a final pass of the off-road vehicle that follows the second contour at the second edge; characterized in that the instructions are further configured to cause the processor (48, 70) to: determine whether a row, defined as partial row, that is less than a full swath width would exist using the pre-planned route, wherein said swath width is the width of a single pass of the implement through the field; and if said partial row would exist, adjust the determined pre-planned route to eliminate said partial row by dividing the width of the partial row between said overlap areas of each pass of the implement and control the off-road vehicle to traverse the field along substantially parallel rows based at least in part on the pre-planned route. determine whether a row, defined as partial row, that is less than a full swath width would exist using the pre-planned route, wherein said swath width is the width of a single pass of the implement through the field; and if said partial row would exist, adjust the determined pre-planned route to eliminate said partial row by dividing the width of the partial row between said overlap areas of each pass of the implement and control the off-road vehicle to traverse the field along substantially parallel rows based at least in part on the pre-planned route.