The scarcity of labour and the resulting increase in scale have led to ever heavier agricultural vehicles in arable farming, which are also pulling tracks across almost the entire field. The resulting soil compaction results in increased fuel consumption, higher greenhouse gas emissions and reduced yields. Fields2cover focuses on the accurate planning of workflows for a relatively light self-propelled vehicle in order to reduce environmental pressure while increasing efficiency. The project develops functionality for complex plot shapes, hilly terrain and routing for multiple implements simultaneously. The developed methods will be implemented in an open-source software library and extensively tested with an autonomous agricultural vehicle developed by AgXeed. Funded by Netherlands Organisation for Scientific Research (NWO) LIFT.