A plurality of vehicles (104, 106, 108, 400), each vehicle (104, 106, 108, 400) of the plurality of vehicles (104, 106, 108,400) comprising: a machine controller; a steering system; a propulsion system; a braking system; a sensor system having a plurality of different types of sensors; a communication system capable of providing communications using a plurality of different types of communications links; a library of machine behaviors; and a coordination system, wherein the machine controller is connected to the steering system, the propulsion system, the braking system, the sensor system, the communication system, the library of machine behaviors, and the coordination system; wherein the communication system is arranged to provide communication between the coordination system of the respective vehicle (104, 106, 108, 400) and the coordination systems of the other vehicles (104, 106, 108, 400) in the plurality of vehicles (104, 106, 108, 400); wherein the library of machine behaviors is arranged to coordinate behaviors associated with one or more tasks and specific behaviors associated with one or more subtasks for carrying out aspects of the one or more tasks and wherein the coordination system is arranged to assign a number of machine behaviors from the library of machine behaviors to the respective vehicle (104, 106, 108, 400) of the plurality of vehicles (104, 106, 108, 400) depending upon the role assigned, and to coordinate the respective vehicle (104, 106, 108, 400) to perform the one or more tasks using the communication system, and wherein the coordination system of each vehicle (104, 106, 108, 400) is operable to assign one of a leader and a follower role to the respective vehicle (104, 106, 108, 400); characterized in that the vehicles (104, 106, 108, 400) are agricultural vehicles arranged to perform agricultural operations on an agricultural field during which the follower rule comprises to follow the leader at a set lateral distance; and the coordination system of each vehicle (104, 106, 108, 400) is operable to assign the respective role for carrying out the aspects of the one or more agricultural operation tasks to the respective vehicle (104, 106, 108, 400) based on an initial placement of the respective vehicle (104,106,108,400) in relation to the other vehicles (104, 106, 108, 400) or in relation to the environment in which the task is to be performed. a machine controller; a steering system; a propulsion system; a braking system; a sensor system having a plurality of different types of sensors; a communication system capable of providing communications using a plurality of different types of communications links; a library of machine behaviors; and a coordination system, wherein the machine controller is connected to the steering system, the propulsion system, the braking system, the sensor system, the communication system, the library of machine behaviors, and the coordination system; wherein the communication system is arranged to provide communication between the coordination system of the respective vehicle (104, 106, 108, 400) and the coordination systems of the other vehicles (104, 106, 108, 400) in the plurality of vehicles (104, 106, 108, 400); wherein the library of machine behaviors is arranged to coordinate behaviors associated with one or more tasks and specific behaviors associated with one or more subtasks for carrying out aspects of the one or more tasks and wherein the coordination system is arranged to assign a number of machine behaviors from the library of machine behaviors to the respective vehicle (104, 106, 108, 400) of the plurality of vehicles (104, 106, 108, 400) depending upon the role assigned, and to coordinate the respective vehicle (104, 106, 108, 400) to perform the one or more tasks using the communication system, and wherein the coordination system of each vehicle (104, 106, 108, 400) is operable to assign one of a leader and a follower role to the respective vehicle (104, 106, 108, 400); characterized in that the vehicles (104, 106, 108, 400) are agricultural vehicles arranged to perform agricultural operations on an agricultural field during which the follower rule comprises to follow the leader at a set lateral distance; and the coordination system of each vehicle (104, 106, 108, 400) is operable to assign the respective role for carrying out the aspects of the one or more agricultural operation tasks to the respective vehicle (104, 106, 108, 400) based on an initial placement of the respective vehicle (104,106,108,400) in relation to the other vehicles (104, 106, 108, 400) or in relation to the environment in which the task is to be performed.