Multiple harvester planner

A method for organizing the actions of agricultural machines, comprising the steps of:

• providing at least one agricultural machine capable of performing a primary agricultural function in at least one field;
• providing at least one servicing vehicle capable of performing a servicing function in connection with said at least one agricultural machine on an as-needed basis;
• running an algorithm on at least one computer, said algorithm further taking the steps of:
• dividing said at least one field into logical chunks of work, including at least one swath within at least one headland and at least one swath within at least one land;
• determining the assignment of each of said at least one agricultural machines to perform said primary agricultural function upon said logical chunks of work in order of:
• first, upon said at least one swath within said at least one headland if all of said swaths within said at least one headland have not already received said primary agricultural function or are not already receiving said primary agricultural function from another of said at least one agricultural machines;
• second, upon one of said at least one swaths within one of said at least one lands that is already receiving said primary agricultural function from another of said at least one agricultural machines, and in which said at least one agricultural machine can perform said primary agricultural function in such an orientation that said at least one servicing vehicle can perform said servicing function in connection with said at least one agricultural machine by way of said at least one servicing vehicle passing over an area that has already received said primary agricultural function;
• and
• third, upon one of said at least one swaths within one of said at least one lands that has not already received said primary agricultural function or is not already receiving said primary agricultural function from another of said at least one agricultural machines, and in which said at least one agricultural machine cannot perform said primary agricultural function in such an orientation that said at least one servicing vehicle can perform said servicing function in connection with said at least one agricultural machine by way of said at least one servicing vehicle passing over an area that has already received said primary agricultural function.