Focke Martinez, SantiagoHertzberg, JoachimHoffmann, ChristaStein, AnthonyRuckelshausen, ArnoMüller, HenningSteckel, ThiloFloto, Helga2023-02-212023-02-212023978-3-88579-724-1https://dl.gi.de/handle/20.500.12116/40265This paper presents an extension to a previously presented planning tool which was developed to generate routes for the machines participating in output-material-flow operations. The extension refers to the support of a headland region consisting of a set of partial side-headlands, comprised by main headlands, located in the sides of the field where inner-field tracks end; and connecting headlands, which border the field boundary and connect the main headlands. Eleven fields were used to test the corresponding tool updates in the planning process, including the geometric representation of the field with the new headland type, and the route planning for a harvesting test-scenario with one non-capacitated harvester and two transport vehicles.enroute planningPrecision FarmingSmart FarmingText/Conference Paper1617-5468