Labour shortages and increases in scale have compelled arable farmers to use increasingly heavy agricultural vehicles, which leave tracks over almost every part of the field. The resulting soil compaction leads to increased fuel consumption, greater greenhouse gas emissions, and reduced yields. Fields2cover focuses on accurately planning routes for relatively light, self-driving vehicles. It aims to reduce environmental impact while boosting efficiency. The project will provide functionality for handling irregularly-shaped fields, hilly terrain and simultaneous operation of multiple vehicles. The methods are implemented in an open-source software library. They are extensively tested using an autonomous agricultural vehicle developed by AgXeed.