The increasing demand in agriculture production along with the growing concerns about the environmental impact of these activities should lead to the development of new production tools. In this context, mobile robotics could be considered as a promising solution, given that autonomous vehicles could perform operations with a high level of accuracy and repeatability, therefore reducing the overuse of products. In this paper, the control a fleet of several mobile robots maintaining a formation shape while driving is investigated. The control laws developed are based on adaptive and predictive control algorithms in order to account for sliding and vehicle dynamics. The capabilities of the proposed approach are investigated through simulations and experimental results.