There is provided an autonomous system for farm implements having a sensor system, an interface to send control signals to a power platform coupled to the farm implement, and a processing structure executing instructions. The instructions involve capturing initial sensor data from the sensor system; estimating a pose of the farm implement from the initial sensor data; generating a fold/unfold trajectory for the power platform in order to fold or unfold the farm implement; instructing the power platform using the interface to travel along the fold/unfold trajectory; receiving additional sensor data from the sensor system as the power platform travels along the fold/unfold trajectory; instructing the power platform using the interface to make adjustments to the fold/unfold trajectory based on the additional sensor data; and stopping the power platform once the farm implement reaches a folded position or an unfolded position.

Agricultural harvester (10), having a frame (11) on which a chassis (15) engages, having booms (17), wherein on both sides of the frame (11) in each case at least one boom (17) engages on the frame in such a way that, in order to transfer the harvester (10) between a working position and a transport position, the respective boom (17) can be displaced relative to the frame (11), having working units (18), wherein in each case at least one working unit (18) engages on each of the booms (17) and can be displaced together with the respective boom (17), having pivoting cylinders (23) and lifting cylinders (24), wherein on each side of the frame (11) in each case a pivoting cylinder (23) and in each case a lifting cylinder (24) are arranged which displace the at least one boom (17) arranged on the respective side of the frame (11), together with the at least one working unit (18), over a respective transfer movement between the working position and the transport position, having a control unit and/or at least one device for hydraulic flow distribution which are designed to simultaneously hydraulically control the pivoting cylinder (23) and lifting cylinder (24) arranged on the respective side of the frame (11) in order to transfer the harvester (10) between the working position and the transport position at least over part of the transfer movement of the at least one boom (17) arranged on the respective side of the frame (11) and to simultaneously use them for the respective transfer movement.