Abstract: Vehicles and methods for controlling a battery of the vehicle based on remaining battery charge. A vehicle may include a battery configured to supply electricity to native and external electrical components of the vehicle. The vehicle may include an electronic control unit (ECU) coupled to the battery. The ECU may be configured to receive a priority rank for each of the electrical components. The ECU may be further configured to stop the battery from supplying the electricity to one or more of the electrical components that are below a predetermined priority rank when a charge of the battery is low.

Abstract: The disclosure herein pertains to determining high occupancy vehicle (HOV) lane eligibility of a vehicle and position of the vehicle with respect to an HOV lane. A method for an on board unit (OBU) of a vehicle may include receiving a traveler information message (TIM) from a roadside unit (RSU), the TIM having a payload including codes indicating lane parameters and HOV criteria of an HOV lane. The OBU determines whether or not the vehicle is HOV lane-eligible and whether or not the vehicle is in the HOV lane, and outputs a corresponding notification.

Abstract: A remote assistance management system is in communication with autonomous traveling vehicles for letting an operator provide remote assistance in response to an assistance request from a vehicle. The system predicts an occurrence of an assistance request in future based on operation states of the vehicles, and categorize a cause of an assistance request predicted to occur into a first category cause that lasts for a long time and a second category cause that lasts only for a short time. The system receives an assistance request from the vehicles. In response to acquiring a first assistance request of which the cause is the first category cause from a first vehicle, the system transmits a first command signal for the first vehicle that is decided by an operator to the first vehicle, and applies the first command signal to another vehicle from which the first assistance request is predicted to occur.

Abstract: Disclosed are systems, methods, and non-transitory computer-readable media for automated fleet tracking. A route management system enables fleet managers to define and assign routes for vehicles in a fleet, as well as set route tracking configurations for customized tracking of the vehicles. For example, the route tracking configuration may include customizations to the scheduled start and/or end time of a route, a threshold for determining that a vehicle has arrived and/or departed from a scheduled stop, and the like.

Abstract: Systems, methods, and storage media for path validation are disclosed. Exemplary implementations may comprise identifying a target path for an activity, including a start and end point, as well as a buffer zone surrounding at least a portion of the target path, receiving a plurality of progressive checkpoints, each intersecting the target path and the buffer zone at one or more points, receiving a plurality of user activity data points associated with the activity, generating a user path corresponding to the plurality of user activity data points, and validating the user path in relation to the target path. In some implementations, the validation is based on determining whether the user path intersects the start and/or end point, a threshold number of progressive checkpoints, and/or whether a portion of user activity data points within the buffer zone is at or above a threshold.

Abstract: An example operation includes determining an action by a vehicle causing a dangerous situation; setting a driving score, based on a number of occurrences of the action; creating a notification, based on a number of occurrences of the action; responsive to the number of occurrences of the action being above a threshold, sending the notification to the vehicle, wherein the notification includes a modification to the vehicle; and applying the modification to the vehicle to minimize the action, wherein an amount of the modification is related to a change of the threshold.

Abstract: A system and a method are disclosed for planning a path within a field for a farming machine. The system predicts boundaries of the field using a previously captured image of the field and generates a suggested route to be taken by a data collection device based on the predicted boundaries. As the data collection device travels along the suggested route, the data collection device collects location data associated with a current layout of the field. The location data may be labeled with obstructions encountered along the way. Based on the location data, the system identifies current boundaries of the field, which may be different from the predicted boundaries. The current boundaries are sent to a verification device to be verified. After the current boundaries have been verified, the path for the farming machine is planned.

Abstract: Disclosed are systems, methods, and non-transitory computer-readable media for manually starting routes. A route management system provides for accessing a route tracking report associated with a vehicle to identify a plurality of routes associated with the vehicle; generating, for display, a first route identifier associated with a first route and a second route identifier associated with a second route, the first route being in an active route state and the second route being in a scheduled route state; receiving a request to manually start the second route associated with the second route identifier; and in response to receiving the request, transitioning the second route from the scheduled route state to the active route state to begin tracking a first set of stops associated with the second route instead of a second set of stops associated with the first route.

Abstract: Provided is an information processing apparatus including a learning unit that learns a heuristic function related to a path search by using a convolutional neural network. The learning unit includes a first convolutional neural network that outputs a first feature value based on an environment map, and a second convolutional neural network that outputs a second feature value related to an internal state of a search subject, performs learning using a loss related to a concatenated value of the first feature value and the second feature value, and outputs a heuristic map in which the heuristic function is represented as a two- or higher-dimensional image. The internal state of the search subject includes at least one element that has a degree of freedom different from a position in an environment.

Abstract: An autonomous vehicle system that provides a playlist of potential paths for a user to select and implement so that an autonomous vehicle can follow the playlist of potential paths from one path to another path to another path is disclosed. The playlist may include one or more paths repeated any number of times. In addition, one cycle of a playlist may be repeated one or more times. The paths may be created, for example, by a user in an autonomous vehicle command and control system. The playlist of potential paths, once created, may be communicated to an autonomous vehicle for execution.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for indicating location status. A computing device can receive a query from a user device, a current time, and a location for the user device. The computing device identifies results responsive to the query, including one or more business results that are each associated with a business location and operating hours. The computing device can select a subset of the business results as open results based on the operating hours of the business results, the current time, and travel times from the device location to the respective business locations. Data can be provided for a search engine results page that designates the subset of the business results as open results.

Abstract: Systems and techniques for two-way privacy enabled mapping and routing platform are described herein. A destination may be determined for a person-to-person (P2P) interaction between a first user and a second user. A current location may be obtained for the first user. Routing data may be generated between the current location and the destination. A set of route segments may be created using the routing data. First route segment data for a first route segment of the set of route segments may be transmitted to generate a routing display on a display of a computing device of the first user. Upon a determination that the first user has reached a checkpoint included in the first route segment, second route segment data for a second route segment of the set of route segments may be transmitted to the routing display. Upon a determination that the first user is in vicinity of the destination, destination data may be transmitted to the routing display.

Abstract: The present disclosure includes a radar configured to detect surrounding objects and terrain, and a LIDAR configured to detect the surrounding objects and terrain using a narrower detection range and a higher resolution than the radar. The disclosure also includes a first map, such as a wide-area map, generated based on information about the surrounding as detected by the radar, a second map, such as a high-resolution map, based on information about the surroundings as detected by the LIDAR, and a composite map that has the grid width of the first map and the grid width of the second map.

Abstract: A system and method for AI-based dynamic pricing, mapping, and emissions control to optimize inner-city mobility. The system acquires real-time nitrogen dioxide data across a geographic area from sources including satellites, feeds this data into a decision support system along with road-specific weight matrices from authorities, and updates a dynamic penalty matrix for roads in the area. Automatic number plate recognition tracks vehicle movement, queries vehicle databases for emissions profiles, and updates the platform. Users input journey parameters and the system, using AI tools including a genetic algorithm economic and environmental dispatch (GA-EED) optimizer, generates an optimized route based on user-selected criteria such as time, emissions, penalty, and cost. The system enables dynamic, environmentally-aware route optimization for inner-city mobility.

Abstract: A method for lateral assist includes receiving work-zone data. The work-zone data includes information about a location of a work zone and a geometry of the work zone. The method further includes determining a route of a vehicle using the work-zone data. Determining the route path of the vehicle includes selecting a lane segment using the work-zone data. The lane segment is adjacent to the work zone. Determining the route path further includes determining a lane departure tolerance for the lane segment previously selected using the work-zone data. The method further includes commanding the vehicle to move within the lane departure tolerance along the lane segment previously selected.

Abstract: A vehicle display device, includes: a curve information acquisition section configured to acquire information relating to a degree of curvature of a travel lane; a deceleration determination section configured to determine whether or not deceleration of a vehicle is required based on the degree of curvature of the travel lane and a vehicle speed; and a marking display section configured to, in a case in which deceleration is required, cause a display device to display a predetermined first marking superimposed along the travel lane at a display region inside a vehicle cabin.

Abstract: An apparatus for estimating a position in an automated valet parking system includes a front camera processor processing a front image of a vehicle, a surround view monitor (SVM) processor recognizing a short-distance lane and stop line by processing a surround view image of the vehicle, a map data unit storing a high definition map, and a controller downloading a map including an area set as a parking zone from the map data unit when the entry of the vehicle to a parking lot is identified and correcting a position measurement value of the vehicle by performing map matching based on results of the recognition and processing of the front camera processor and SVM processor and the parking lot map of the map data unit when an automated valet parking start position is recognized based on the recognized short-distance lane and stop line.

Abstract: The present technology relates to an information processing apparatus, an information processing method, and a recording medium which can more appropriately arrange a virtual object. By providing the information processing apparatus including a control unit that restricts a size of an environment map data in which a virtual object is arranged, on the basis of a detection result by a sensor of a real space associated with the environment map data, it is possible to more appropriately arrange a virtual object. For example, the present technology can be applied to an AR HMD.

Abstract: A method for batch configuration of linkages, a terminal, a server, an electronic device, and a storage medium are provided. The method for batch configuration of linkages includes the following steps. Data of linkage nodes configured in a linkage table and data of linkage nodes in an address space are loaded. Each of the linkage nodes configured in the linkage table includes a keyword representing a type of the linkage node. The data in the address space is retrieved based on the keywords representing the types of the linkage nodes. The data of the linkage nodes configured in the linkage table is loaded into all retrieved linkage nodes in batches.

Abstract: A system may include a first neural network to detect the state of the rider through expert system-based processing of rider state indicative wearable sensor data of a plurality of wearable physiological condition sensors worn by the rider in the vehicle, the state indicative wearable sensor data indicative of at least one of a first state of the rider and a second state of the rider. A system may include a second neural network to optimize, for at least one of achieving and maintaining a first state of the rider, the operating parameter of the vehicle in response to the detected state of the rider, wherein the second neural network optimizes the operational parameter based on a correlation between a vehicle operating state and a rider state, wherein the optimized operational parameter of the vehicle is determined and adjusted to induce the first state in the rider.

Abstract: A driving assistance method for performing a lane change of an own vehicle by an automated lane change function causes a controller to perform processing including: when a vehicle permitted to travel in, of a first lane and a second lane, the first lane is limited, the first lane and the second lane being a plurality of lanes on a road on which the own vehicle travels, the plurality of lanes being adjacent to each other and having a same travel direction, determining whether or not the own vehicle is traveling in the first lane in which a vehicle permitted to travel in the first lane is limited; and when determining that the own vehicle is traveling in the first lane, not performing a lane change from the first lane to the second lane by the automated lane change function.

Abstract: A system and method of planning a path for an autonomous vehicle from the vehicle's initial configuration to the goal configuration which is collision-free, kinematically-feasible, and near-minimal in length. The vehicle is equipped with a plurality of perception sensors such as lidar, camera, etc., and is configured to operate in an autonomous mode. An onboard computing device is configured to process the sensor data and provide a dynamic occupancy grid map of the surrounding environment in real-time. Based on the occupancy grid map, the path planner can quickly calculate a collision-free and dynamically feasible path towards the goal configuration for the vehicle to follow.

Abstract: In exemplary embodiments, methods and systems are provided that include: obtaining, via telematics systems of a plurality of vehicles, vehicle telemetry data as the plurality of vehicles travel through one or more geographic regions; transforming, from a computer processor, the vehicle telemetry data into a geohash encoded format pertaining to the one or more geographic regions; identifying, via a processor, a plurality of road junctions using the vehicle telemetry data that is transformed into a geohashed encoding; identifying, via the processor, a plurality of road segments using the vehicle telemetry data that is transformed into a geohashed encoding for the one or more geographic regions; and generating, via the processor, a road network mapping for the one or more geographic regions that includes the plurality of road junctions and the plurality of road segments utilizing the vehicle telemetry data that is transformed into a geohashed encoding.

Abstract: Aspects of the present disclosure involve a system comprising a computer-readable storage medium storing a program and method for providing augmented reality content corresponding to a translation in association with travel. The program and method provide for receiving, by a messaging application running on a device of a user, a request to scan an image captured by a device camera; obtaining, in response to receiving the request, a travel parameter associated with the request, and an attribute of an object depicted in the image; determining, based on the travel parameter and the attribute, to perform a translation with respect to the object; performing, in response to the determining, the translation with respect to the object; and displaying an augmented reality content item, which includes the translation, with the image.

Abstract: A charging assistance system includes a processor configured to execute a generation process of generating charging plan data for a vehicle on the basis of: predicted power consumption of the vehicle calculated on the basis of a future traveling schedule of the vehicle; and a charging condition at each predicted stop place based on the traveling schedule.

Abstract: This application discloses a navigation processing method and apparatus, a server, and an intelligent terminal. The method includes obtaining drawn route information, the drawn route information comprising N initial location points confirmed according to an electronic map, the N initial location points being determined according to a trajectory drawn based on a sliding operation on an interactive interface where the electronic map is displayed, and N being a positive integer; matching the N initial location points with road network information to obtain associated road information, the associated road information comprising M associated location points and L associated links, and M and L being positive integers; obtaining a location similarity between the N initial location points and the M associated location points; and determining a target navigation route corresponding to the drawn route information according to the L associated links when the location similarity meets a navigation condition.

Abstract: An embodiment vehicle includes a communicator configured to communicate with a server, a sensor, a user interface device, and a controller configured to generate a plurality of routes based on destination information received through the user interface device, wherein the controller is configured to generate a first route not including an exclusive lane from a position of the vehicle to a destination, and in response to information on a maximum occupancy of the vehicle satisfying a first preset condition and information on a number of occupants in the vehicle acquired by the sensor satisfying a second preset condition, generate a second route including the exclusive lane from the position of the vehicle to the destination.

Abstract: A system described herein may provide a technique for a determination of a path through a node map using one or more searches. The nodes may be associated with respective priorities. A first search may be performed from a first node in ascending order of priority. A second search may be performed from a second node in ascending order of priority, until a third node, traversed during the first search is reached. A third search may be performed from the third node, in descending order of priority, until the first node is reached. The third search may be restricted only to nodes traversed during the first search. A path that is based on the second and third searches may be provided in response to a navigation request from a starting point associated with the second node to a destination associated with the first node.

Abstract: A system to perform operations that include: minting a Non-Fungible Token (NFT) that comprises a media object and mutable metadata; allocating the NFT to a user of a client device; granting the user of the client device a permission to change the mutable metadata of the NFT based on the allocating the NFT to the user of the client device; generating an open-edition of the NFT, the open-edition of the NFT comprising a reference to the mutable metadata; receiving a change to the mutable metadata from the user of the client device; and updating the open-edition of the NFT based on the change.

Abstract: Disclosed are aspects of a method, carried out by a vehicle data recording device, that includes downloading, from a host data collecting system, a recording target and determining a plurality of possible routes for the vehicle. The method also includes, for each route, generating a route encoding in numerical values an information on predicted values of the route for metrics, a metric being a function assigning a value representing an amount of progress in achieving an elementary recording target to a piece of data. The method additionally includes providing the route encodings and additional environmental information independent of the routes to a reinforcement learning agent that selects one of the routes to optimize a reward. The method further includes recording data from in-vehicle sources while the vehicle drives along the selected route and uploading at least part of the recording data to the host data collecting system.

Abstract: Methods and systems for correcting errors in transportation routes are provided. In one embodiment, a method is provided that includes receiving a transportation request that includes at least two locations. A first route prediction may be generated based on a first set of previously-completed routes associated with the at least two locations. A first predictive model may compare the first route prediction with route information associated with a second set of previously-completed routes identified based on the first route prediction. A second route prediction may be generated based on the comparison and may be sent to a mobile device for presentation to a user.

Abstract: Among other things, techniques are described for spatially and temporally consistent ground modelling with information fusion. A vehicle location and orientation is obtained and an instantaneous ground height estimation is obtained for anchor cells of a grid map of the vehicle based on the obtained vehicle location and orientation. A pseudo ground height associated with non-anchor cells of the grid map is computed. A Bayesian filtering framework is used to generate a final ground height estimate for the anchor cells and the non-anchor cells based on the instantaneous ground height estimation for the anchor cells, the pseudo ground height associated with non-anchor cells, an estimated ground height from a previous timestamp, or any combinations thereof. The vehicle operates according to the final ground height estimate.

Abstract: A system and method for translating route guidance between a navigation system and a navigation service when different versions of a map database are being used. The navigation service applies a version translation table to identify differences between the map databases and translates route guidance accordingly before it is communicated to the navigation system.

Abstract: Provided is a driver assistance system that may acquire more accurate position information of a vehicle without extracting landmark information or feature point information around the vehicle, the driver assistance system including: a global positioning system (GPS) module configured to acquire GPS information of the vehicle; a lidar configured to acquire point cloud data for an outside field of view of the vehicle; a communicator configured to receive a high definition map; and a controller comprising at least one processor configured to process the point cloud data, the high definition map, speed data and steering angle data, the speed data and the steering angle data being received through a vehicle communication network, wherein the controller is configured to generate dead reckoning information in response to processing the speed data and the steering angle data, generate position information of the vehicle based on the dead reckoning information and the GPS information, acquire intensity data around the

Abstract: The present disclosure provides a method for generating navigation information, an apparatus for generating navigation information, a device, a medium, and a product. The present disclosure relates to the technical field of computers, and specifically relates to the technical field of artificial intelligence, and the present disclosure may be applied to a map navigation scenario. A specific implementation includes: acquiring intersection feature information; determining a set of a complex intersection based on the intersection feature information; determining intersection type information corresponding to the complex intersection in the set of the complex intersection; and generating navigation information corresponding to the complex intersection in the set of the complex intersection based on the intersection type information.

Abstract: The disclosure provides a method for managing a cleaning route in a smart city, an Internet of Things system and storage medium. The method includes: obtaining target information of a target area within a preset time period based on an object platform; sending the target information to a management platform through a sensor network platform; determining a cleaning route of the target area by processing the target information of the target area based on the management platform, including: determining an estimated amount of fallen leaves of each section of road in the target area; determining an estimated falling range of fallen leaves of each section of road in the target area; determining a cleaning difficulty evaluation value of each section of road based on the estimated amount of fallen leaves and the estimated falling range; and determining a cleaning route based on the cleaning difficulty evaluation value.

Abstract: Some embodiments provide a mapping application that has a novel way of displaying traffic congestion along roads in the map. The mapping application in some embodiments defines a traffic congestion representation to run parallel to its corresponding road portion when the map is viewed at a particular zoom level, and defines a traffic congestion representation to be placed over its corresponding mad portion when the map is viewed at another zoom level. The mapping application in some embodiments differentiates the appearance of the traffic congestion representation that signifies heavy traffic congestion from the appearance of the traffic congestion representation that signifies moderate traffic congestion. In some of these embodiments, the mapping application does not generate a traffic congestion representation for areas along a road that are not congested.

Abstract: The present disclosure may provide a method for route planning. The method may include obtaining a start location and a destination of a target vehicle. The method may also include obtaining a map of a target region including the start location and the destination. The map may include node information of each of a plurality of nodes. Further, the method may include obtaining motion status information associated with one or more vehicles other than the target vehicle in the target region. The method may further include determining a target route of the target vehicle based at least in part on the start location, the destination, the motion status information associated with the one or more vehicles, and the map.

Abstract: In some implementations, methods for selecting a set of beacons that are to be monitored by a mobile device may be employed. Specifically, an optimal set of beacons to monitor may be provided to a mobile device depending on particular groups of beacons that are in proximity to the mobile device, the distance from the mobile device to each of the particular groups of beacons, and the mobile device's position/movements as provided by a tracking service such as GPS. These techniques may ensure that the mobile device is not blind to the closest and/or most relevant beacons.

Abstract: The proposed invention relates to methods for controlling energy consumption by a motor vehicle and can be used in transportation industry. The technical problem to be solved by the claimed invention is to provide a method, a device and a system that do not possess the drawbacks of the prior art and thus make it possible to generate an accurate energy-efficient track for a motor vehicle that allows to reduce energy consumption by the motor vehicle on the specific portion of the route. The objective of the claimed invention is to overcome the drawbacks of the prior art and thus to reduce energy consumption by the motor vehicle on the specific portion of the route.

Abstract: The present invention provides a vehicle control device and a control method therefor. A vehicle control device according to one embodiment of the present invention comprises: an interface unit communicatively connected to a display unit provided in a vehicle; and a processor for controlling the display unit provided in the vehicle through the interface unit, wherein the processor receives destination information through the interface unit, acquires, from map information, spatial coordinates of a building corresponding to the destination information, and controls, on the basis of the spatial coordinates of the building corresponding to the destination information, the display unit so that a graphic object related to the destination information overlaps with the building and is displayed.

Abstract: Systems and methods for generating and presenting an optimized path using sequential location trace clustering is provided. The system receives a request for a transportation service from a client device of a user. The request indicates a destination point (i.e., a pickup location) and is associated with a start point (i.e., a location at a time the user requested the transportation service). Based on the start point and destination point, the system identifies one or more paths between the start point and the destination point, whereby the one or more paths are generated using sequential location trace clustering from previous transportation services involving the start point and the destination point. The system then causes presentation of a path of the one or more paths on a user interface on the client device of the user with which the user can use to navigate to the destination point.

Abstract: This invention refers to a navigation method applicable to general transport means—air, maritime or land transport—, particularly whenever constant checking on the route or path is required for taking a certain action. This invention also describes a system that uses said method.

Abstract: A processor may receive transportation data associated with one or more vehicles and one or more routes having one or more roads. The processor may analyze the transportation data for one or more vehicle capabilities associated with the one or more vehicles and one or more road capabilities associated with the one or more roads of the one or more routes. The processor may generate one or more simulations associated with the one or more roads and the one or more vehicles. The processor may identify an optimal vehicle from the one or more vehicles and an optimal route from the one or more routes. Identifying the optimal vehicle and the optimal route may be based, at least in part, on the one or more simulations. The processor may assign the optimal vehicle to the optimal route.

Abstract: Systems and methods for vehicle route planning are disclosed. The system is configured to identify one or more charging stations based on one or more geographic locations selected for route planning. The system is also configured to analyze carbon emissions data for the one or more charging stations based on utility grid locations associated therewith. The system is further configured to determine a route associated with the one or more geographic locations and select at least one charging station on the route for charging of a vehicle based on analysis of the carbon emissions data associated with the one or more charging stations. The system is still further configured to provide the route and the at least one charging station to a user for navigation of the vehicle.

Abstract: According to the present disclosure, a map matching apparatus includes a map information acquisition unit configured to acquire map information expressed by a plurality of links, a movement information acquisition unit configured to acquire movement information of a moving body on a predetermined route, and a matching unit configured to specify a link string, which is a string of the links corresponding to the route, based on the map information and the movement information, in which the matching unit is configured to generate a physical network, which is a road network, based on the connection relationship and the map information, generate a hierarchical logical network in which the physical network is duplicated in a plurality of layers and configured in a hierarchical manner, and specify the link string indicating a minimized cost in the hierarchical logical network.

Abstract: Embodiments of the present invention provide a method for identifying discrepancies in digital map data, comprising selecting one or more candidate locations as a subset of locations within positional data relating to the movement of a plurality of devices with respect to time in an area, allocating each of the candidate locations to one or more predetermined categories based upon a distribution of travel directions of the devices at each candidate location and comparing the candidate locations against a database of map data and identifying locations of possible discrepancies in the digital map data based upon the category of each candidate location.

Abstract: Methods, systems, and devices are described for predicting a destination of a user and sharing the presumed destination with the other users via a geographically-based graphical user interface. Consistent with some embodiments, an electronic communication containing location information is received from a location sensor coupled to a first client device. A current trajectory of the first user is determined based on the location information. A presumed destination of the first user is determined, by correlating the current trajectory of the first user with historical location information of the first user. A map depicting an icon associated with the presumed destination of the first user is displayed, on a display screen of a second client device of a second user.

Abstract: Systems and methods for communicating aircraft sensory cues are provided. A method can include obtaining aerial vehicle data and facility data for an aerial portion of a multi-modal transportation service. The method can include determining a plurality of sensory cues indicative of information for the aerial portion of the transportation service such as a safe path across a landing pad of the facility, a seating assignment for a passenger, etc. The method can include communicating sensory data indicative of the plurality of sensory cues to at least one of a facility computing system associated with the facility or an aerial computing system associated with the at least one aerial vehicle. The facility computing system and/or aerial computing system can output the sensory cue(s) to at least one passenger or operator of the aerial portion of the multi-modal transportation service in, for example, the facility's landing area.

Abstract: The method of managing unmanned aerial vehicle (UAV) patrols is a method for organizing and managing a fleet of UAVs for patrolling a geographic region for the detection of threats. During patrols, the UAVs visit two types of waypoints: critical waypoints and strategic waypoints. To establish the strategic waypoints, a set of seed points are generated using a beta probability distribution. Voronoi tessellation is applied to produce the set of strategic waypoints within the region of interest by using the set of seed points as an input. Each of the strategic waypoints has a set of coordinates on the three-dimensional occupancy map associated therewith. The set of coordinates associated with each of the strategic waypoints is a centroid of a corresponding Voronoi cell produced by the Voronoi tessellation. A priority score is assigned to each of the critical waypoints and each of the strategic waypoints.