An agricultural control system , comprising: a controller comprising a memory and a processor , wherein the controller is configured to determine a first segment of an implement path that enables an agricultural implement to perform an agricultural operation on a first region of an agricultural field , to determine a first segment of a vehicle path of an agricultural vehicle coupled to the agricultural implement to direct the agricultural implement along the first region, to determine a second segment of the implement path that enables the agricultural implement to perform the agricultural operation on a second region of the agricultural field , to determine a second segment of the vehicle path to drive the agricultural implement along the second region, and to determine a first end-of-row turn of the vehicle path at an end of the first segment of the vehicle path and a beginning of a second segment of the implement path , and to output a first signal indicative of the vehicle path , characterised in that the first and second segments of the vehicle path of the agricultural vehicle coupled to the agricultural implement are based at least in part respectively on the first and second segments of the implement path, and in that the controller is further configured to determine the first segment of the vehicle path based at least in part on the geometry of the implement with an offset between the agricultural implement and the agricultural vehicle , and the offset comprises a distance between a lateral center line of the agricultural implement and a lateral center line of the agricultural vehicle . a controller comprising a memory and a processor , wherein the controller is configured to determine a first segment of an implement path that enables an agricultural implement to perform an agricultural operation on a first region of an agricultural field , to determine a first segment of a vehicle path of an agricultural vehicle coupled to the agricultural implement to direct the agricultural implement along the first region, to determine a second segment of the implement path that enables the agricultural implement to perform the agricultural operation on a second region of the agricultural field , to determine a second segment of the vehicle path to drive the agricultural implement along the second region, and to determine a first end-of-row turn of the vehicle path at an end of the first segment of the vehicle path and a beginning of a second segment of the implement path , and to output a first signal indicative of the vehicle path , characterised in that the first and second segments of the vehicle path of the agricultural vehicle coupled to the agricultural implement are based at least in part respectively on the first and second segments of the implement path, and in that the controller is further configured to determine the first segment of the vehicle path based at least in part on the geometry of the implement with an offset between the agricultural implement and the agricultural vehicle , and the offset comprises a distance between a lateral center line of the agricultural implement and a lateral center line of the agricultural vehicle . <EOS>