Abstract: An apparatus and method of providing a bit masked heartbeat signal across a digital communication network to a plurality of managed devices, said method comprising the steps of: providing a state value for each one of said managed devices; generating a heartbeat packet comprising state data that incorporates said state value of each one of said managed devices; and transmitting said heartbeat packet to each one of said managed devices.

Abstract: A navigation system for navigating an autonomous vehicle along a path that is confined by walls that are within range of on-board sensors is described. The system determines the relative location and orientation of the walls with respect to the vehicle. The system controls the steering angle and the ground speed of the vehicle by employing: (a) range data to establish free space in front of vehicle; (b) active contours to generate a desired path; (c) driving hints to guide the active contours along arcs and open areas; (d) steering hints to confine the active contours to a specific domain of free space, at, for instance, intersections; and (e) a desired path to generate steering demand or velocity.