| CPC G01C 21/3461 (2013.01) [G01C 21/3469 (2013.01); G01C 21/3492 (2013.01); G01C 21/3605 (2013.01)] | 21 Claims |
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1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
divide a plurality of waypoints in a geographic area into a plurality of clusters according to at least one metric;
arrange the clusters into an upper-level ordering by executing an optimization algorithm;
divide the waypoints in a first cluster of the clusters into a plurality of further clusters;
arrange the further clusters in the first cluster into a mid-level ordering;
arrange the waypoints within the respective clusters into a plurality of respective lower-level orderings by executing the optimization algorithm on the respective clusters;
output the waypoints in a final ordering by concatenating the waypoints in the lower-level orderings according to the upper-level ordering, the final ordering defining a final route passing through the waypoints in the final ordering; and
instruct a vehicle to navigate the final route.
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