A method of instructing a motion path of a mobile object with wireless connectivity, the mobile object being controllable in an autonomous or partially-autonomous mode by an on-board object control device; the method comprising: at a first computing apparatus, maintaining a four-dimensional map of a physical region of interest over a timeframe of interest, the map including static and dynamic map objects representing corresponding static and dynamic physical objects within the physical region, one of the dynamic map objects representing the mobile object, the four dimensions being three spatial dimensions and time, and the timeframe including a future period, being a defined duration into the future beyond the present, wherein maintaining the four-dimensional map includes: augmenting the static and dynamic map objects with one or more predicted dynamic map objects, the predicted dynamic map objects being a subset of dynamic map objects and appearing in the map at a mapped instant between a current time and the end of the future period, and the appearance of the predicted dynamic map object being predicted based on historical information relating to appearances of dynamic physical objects in the physical domain, the realtime sensor information from the physical domain, and/or notification of an event in the physical domain; the four-dimensional map coordinates of each dynamic map object being based on realtime sensor data from the physical region indicating the location of the corresponding dynamic physical object, and a predicted path of the dynamic map object in the future period, wherein: the realtime sensor data is provided from a plurality of sensors mounted on dynamic physical objects and static physical objects within the physical region, and the first computing apparatus is located between the plurality of sensors and centralised network entities; using the four-dimensional map to determine a motion path for the mobile object in the future period that solves an objective function with one or more factors dependent upon the motion path of the mobile object; and instructing the mobile object to follow the determined motion path. at a first computing apparatus, maintaining a four-dimensional map of a physical region of interest over a timeframe of interest, the map including static and dynamic map objects representing corresponding static and dynamic physical objects within the physical region, one of the dynamic map objects representing the mobile object, the four dimensions being three spatial dimensions and time, and the timeframe including a future period, being a defined duration into the future beyond the present, wherein maintaining the four-dimensional map includes: augmenting the static and dynamic map objects with one or more predicted dynamic map objects, the predicted dynamic map objects being a subset of dynamic map objects and appearing in the map at a mapped instant between a current time and the end of the future period, and the appearance of the predicted dynamic map object being predicted based on historical information relating to appearances of dynamic physical objects in the physical domain, the realtime sensor information from the physical domain, and/or notification of an event in the physical domain; the four-dimensional map coordinates of each dynamic map object being based on realtime sensor data from the physical region indicating the location of the corresponding dynamic physical object, and a predicted path of the dynamic map object in the future period, wherein: the realtime sensor data is provided from a plurality of sensors mounted on dynamic physical objects and static physical objects within the physical region, and the first computing apparatus is located between the plurality of sensors and centralised network entities; the realtime sensor data is provided from a plurality of sensors mounted on dynamic physical objects and static physical objects within the physical region, and the first computing apparatus is located between the plurality of sensors and centralised network entities; using the four-dimensional map to determine a motion path for the mobile object in the future period that solves an objective function with one or more factors dependent upon the motion path of the mobile object; and instructing the mobile object to follow the determined motion path.