A wireless communication system for coordinating the movement of a plurality of agricultural vehicles, each vehicle (10,12) comprising a global positioning system, a multi-channel transmitter/ receiver (Tx/Rx) module having a limited communication range, and a signal processor connected to the multi-channel transmitter/ receiver Tx/RX module, wherein: - the transmitter being controlled by the signal processor and operable to transmit on a predetermined communication channel a signal comprising, at least, a unique vehicle identifier and a signal indicating the current positional co-ordinates of the vehicle, and - the signal processor is operable to - analyse the signals received from other vehicles within the communication range, and - determine from the unique vehicle identifier and the positional coordinates data when another vehicle is ready to perform a joint operation with the vehicle, wherein the communication system is switched to a different communication channel prior to initiation of a joint operation, characterised in that the signal processor includes a service table in which the unique vehicle identifiers of vehicles that may engage in a joint operation are stored together with other relevant information on the vehicles for performing the joint operation, wherein the signal processor determines that the vehicle is ready to perform the joint operation with the other vehicle when the unique vehicle identifier is included in the service table and speed and direction differences are within specified limits. - the transmitter being controlled by the signal processor and operable to transmit on a predetermined communication channel a signal comprising, at least, a unique vehicle identifier and a signal indicating the current positional co-ordinates of the vehicle, and - the signal processor is operable to - analyse the signals received from other vehicles within the communication range, and - determine from the unique vehicle identifier and the positional coordinates data when another vehicle is ready to perform a joint operation with the vehicle, wherein the communication system is switched to a different communication channel prior to initiation of a joint operation, characterised in that the signal processor includes a service table in which the unique vehicle identifiers of vehicles that may engage in a joint operation are stored together with other relevant information on the vehicles for performing the joint operation, wherein the signal processor determines that the vehicle is ready to perform the joint operation with the other vehicle when the unique vehicle identifier is included in the service table and speed and direction differences are within specified limits. - analyse the signals received from other vehicles within the communication range, and - determine from the unique vehicle identifier and the positional coordinates data when another vehicle is ready to perform a joint operation with the vehicle, wherein the communication system is switched to a different communication channel prior to initiation of a joint operation, characterised in that the signal processor includes a service table in which the unique vehicle identifiers of vehicles that may engage in a joint operation are stored together with other relevant information on the vehicles for performing the joint operation, wherein the signal processor determines that the vehicle is ready to perform the joint operation with the other vehicle when the unique vehicle identifier is included in the service table and speed and direction differences are within specified limits.