| CPC G05D 1/0274 (2013.01) [A01B 79/005 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0276 (2013.01); G06F 16/29 (2019.01); G06F 18/2113 (2023.01); G06T 7/70 (2017.01); G06V 10/757 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/30188 (2013.01); G06T 2207/30252 (2013.01)] | 20 Claims |
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1. A system, comprising:
one or more motion sensors configured to detect motion of a vehicle;
actuators configured to control motion of the vehicle and to control operation of an implement connected to the vehicle; and
a processing apparatus configured to:
access a map data structure storing a map representing locations of physical objects in a geographic area;
access a path data structure that includes a sequence of waypoints that each specify a position within the map, wherein a waypoint in the sequence of waypoints includes implement control data for operating the implement at a location corresponding to the position of the waypoint;
access motion sensor data captured using the one or more motion sensors;
determine, based on the motion sensor data, an estimate of a current location of the vehicle;
control one or more of the actuators to cause the vehicle to move from the current location of the vehicle to the location corresponding to the position of the waypoint;
detect, based on the motion sensor data, when the vehicle arrives at the location corresponding to the position of the waypoint; and
responsive to the vehicle arriving at the location corresponding to the position of the waypoint, control one or more of the actuators, based on the implement control data of the waypoint, to cause the implement to perform an operation.
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