PRECISION AGRICULTURE IS PREDICTED TO BE ONE OF THE LARGEST COMMERCIAL MARKETS FOR AERIAL ROBOTS. IN 2019, THE WORLD WILL FARM 216.35 MILLION HECTARES OF WHEAT, 188.46 MILLION HECTARES OF CORN, AND 162.75 MILLION HECTARES OF RICE ACCORDING TO THE MOST RECENT USDA WORLD AGRICULTURAL PRODUCTION ESTIMATES. AERIAL VEHICLES WILL BE USED TO SUPPORT BETTER MANAGEMENT OF FARM INPUTS BY DETECTING, LOCATING, AND IDENTIFYING: NUTRIENT DEFICIENCIES, WEED DENSITIES, DISEASE, PEST INFESTATIONS, AND CROP WATER STATUS, ENABLING EARLY INTERVENTION TO PROTECT CROP YIELDS. ROBOTIC VEHICLES WILL ALSO ENABLE THE APPLICATION OF FARM INPUTS INCLUDING: FERTILIZER, HERBICIDES, FUNGICIDES, BACTERICIDES, PESTICIDES, LARVICIDES, AND WATER AT THE RIGHT LOCATIONS, RIGHT TIMES AND AT THE RIGHT RATES. THIS WILL INCREASE GROWER'S YIELDS, SAVE FUEL, SAVE TIME, REDUCE THE QUANTITY AND COST OF INPUTS AND REDUCE ENVIRONMENTAL IMPACT. AGRICULTURAL ROBOTIC SYSTEMS FREQUENTLY FACE A DIVERSE SET OF COMPETING OBJECTIVES,AND A GREAT OBSTACLE TO THEIR EFFECTIVE AND WIDE-SPREAD DEPLOYMENT IS THE LACK OF CONTROL DESIGNS THAT CAN GUARANTEE THE ACCOMPLISHMENT OF MULTIPLE GOALS BY MULTIPLE COLLABORATING ROBOTIC VEHICLES. TO MINIMIZE THE COMPLEXITY OF IMPLEMENTATION, THESE CONTROL LAWS NEED TO BE DESIGNED TO ENABLE THE SELF-CONTROL OF EACH VEHICLE, AND SHOULD REQUIRE AS LITTLE INFORMATION EXCHANGE AS POSSIBLE BETWEEN VEHICLES AND BETWEEN VEHICLES AND HUMAN-OPERATED GROUND STATIONS. THE CONTROL LAWS NEED TO BE RELIABLE, THAT IS, DESIGNED TO OPERATE UNDER POSSIBLE INFORMATION INACCURACIES AND COMMUNICATION DELAYS AND ROBUST, THAT IS, CAPABLE OF HANDLING ENVIRONMENTAL PERTURBATIONS SUCH AS WIND GUSTS. KEY ENABLERS WILL THEN BE EASE OF USE, RELIABILITY, AND SCALABILITY IN TERMS OF TASKS AND THE NUMBER OF ROBOTIC VEHICLES ACCOMPLISHING THESE TASKS.IN THIS COLLABORATIVE PROPOSAL, AN IMPORTANT OPEN PROBLEM OF COLLECTING SHADOW-FREE IMAGERY OF FARM FIELDS BY MULTI-VEHICLE ROBOTIC SYSTEMS IS CONSIDERED. THE PIS HAVE COMBINED EXPERTISE IN CONTROL SYSTEMS, ROBOTICS, DEEP LEARNING, AND INFORMATION THEORY, WITH INDUSTRY PARTNER SENTEK SYSTEMS, WHICH SPECIALIZES IN THE DESIGN, DEVELOPMENT, AND MANUFACTURING OF ROBOTIC VEHICLE SENSOR PAYLOADS FOR PRECISION AGRICULTURE. A CONTROL DESIGN, ALGORITHMS, AND PROTOTYPE SOFTWARE WILL BE DEVELOPED TO ENABLE CONTROL AND COORDINATION OF MULTIPLE ROBOTIC VEHICLES IN COLLECTING SHADOW-FREE IMAGERY. THE MULTIPLE OBJECTIVES WILL REPRESENT SPECIFIC TASKS IN PRECISION AGRICULTURE BEING COLLECTION OF IMAGES AND DATA ABOUT THE CROPS WHICH CAN BE DONE ONLY DURING FIVE HOURS OF DAYLIGHT TIME WHILE AVOIDING CLOUD SHADOWS AND ENSURING OVERALL SYSTEM SAFETY.