I agree. I liked @peabody124's ideas on cleaning it up, but was waiting too see if there was a third approach neither of us had seen. A driver approach sounds interesting, but also like a potentially complex undertaking. I would have preferred to find a simpler way to clean this up, but still keep the basic insight, which is that there is only one vehicle and only one path to follow at a time. It seems like bad architecture to have each follower go its separate way without considering how they interrelate. Currently, we cannot run two followers at a time because they will both consume the same UAVOs and write the same UAVOs. Catastrophe! So the upshot is we cannot have a hybrid automaton which chooses followers based on the mission scenario, which greatly limits the amount of autonomy we can instill in our vehicles.

We can try the shotgun approach to initializing UAVOs, i.e. just initialize all the path follower UAVOs that a pathway can use. There aren't that many categories of vehicles which can change motion classes. The followers are *unique to a class*, but general across members of that class.

*You're putting the Dubins cart before the horse here :)*

Groan. That's going in a book somewhere.