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In this chapter, agriculture cyber-physical systems (ACPSs) are presented as the key technology to achieve precision agriculture. First, a typical architecture of ACPSs is explained. Then, some existing ACPSs and their applications, such as, soil moisture monitoring for irritation scheduling, soil mineral content monitoring for fertilization scheduling, weather monitoring for frost prevention, crop growth monitoring for disease prevention and harvest management, are reviewed. Moreover, as a study case of ACPSs, the issue of sensor deployment in an ACPS-enabled automatic irrigation system for field information coverage in precision agriculture is investigated. A field experiment is conducted to evaluate the performance of the proposed method for sensor deployment. Finally, future research directions of ACPSs are also provided.