The soil forms the basis for plant growth. For an undisturbed growth, rapid and healthy rooting of the soil is required. A good soil structure is of great importance here. One of the most important bottlenecks in the current large scale agriculture is soil compaction, due to large and heavy machines. Soil compaction conflicts with good soil structure. Aspects such as efficiency, nutrient efficiency, crop yield, crop quality, energy consumption and processing capacity are closely related to soil structure. All these aspects are negatively affected by soil compaction. Good tillage maintains and improves the soil structure. The CTF system is aimed at riding the fixed paths only, so that the soil is not disturbed between the paths. The main purpose of the tillage is to rid crop residues and fight weeds. This means that tillage is necessary in a CTF system. The work package focuses on resolving bottlenecks in current agricultural practice and create solutions specifically focused on CTF/strip cropping cultivation. The aim is to develop techniques for tillage without disturbing the fixed paths of the CTF system.