A system for autonomous beyond line-of-sight roadside maintenance machinery signage, the system comprising: a maintenance machine comprising: a maintenance machine location sensor configured for determining a location of the maintenance machine, at least one autonomous unmanned vehicle comprising: drive motors operably coupled to driven wheels; steering coupled to the driven wheels; an unmanned vehicle location sensor configured for determining a location of the autonomous unmanned vehicle; a vision sensor subsystem for determining at least a lateral offset of the autonomous unmanned vehicle with respect to a road verge wherein, in use, the system is configured for: receiving unmanned vehicle formation configuration settings for controlling the formation deployment of the unmanned vehicle with respect to the maintenance machine, the formation configuration settings comprising at least one of: a route offset configuration setting representing a distance between the unmanned vehicle and the maintenance machine in use; and a road verge lateral offset configuration setting representing an offset distance of the unmanned vehicle from a road verge in use; receiving maintenance machine location data from the maintenance machine location sensor representing a location of the maintenance machine; receiving unmanned vehicle location data from the unmanned vehicle location sensor representing a location of the unmanned vehicle; controlling the motors of the unmanned vehicle in accordance with the route offset configuration setting, maintenance machine location data and unmanned vehicle location data, and further in accordance with an actual route; receiving realtime road verge lateral offset data from the vision sensor subsystem representing a realtime road verge lateral offset of the unmanned vehicle from the road verge; and controlling the steering in accordance with the realtime road verge lateral offset data and the road verge lateral offset configuration setting, the system being characterised in that the unmanned vehicle route offset configuration setting is a leading route offset configuration setting such that the unmanned vehicle is configured for leading the maintenance machine, and wherein the actual route is a predetermined route obtained from a historical maintenance route. a maintenance machine comprising: a maintenance machine location sensor configured for determining a location of the maintenance machine, a maintenance machine location sensor configured for determining a location of the maintenance machine, at least one autonomous unmanned vehicle comprising: drive motors operably coupled to driven wheels; steering coupled to the driven wheels; an unmanned vehicle location sensor configured for determining a location of the autonomous unmanned vehicle; a vision sensor subsystem for determining at least a lateral offset of the autonomous unmanned vehicle with respect to a road verge wherein, in use, the system is configured for: drive motors operably coupled to driven wheels; steering coupled to the driven wheels; an unmanned vehicle location sensor configured for determining a location of the autonomous unmanned vehicle; a vision sensor subsystem for determining at least a lateral offset of the autonomous unmanned vehicle with respect to a road verge wherein, in use, the system is configured for: receiving unmanned vehicle formation configuration settings for controlling the formation deployment of the unmanned vehicle with respect to the maintenance machine, the formation configuration settings comprising at least one of: a route offset configuration setting representing a distance between the unmanned vehicle and the maintenance machine in use; and a road verge lateral offset configuration setting representing an offset distance of the unmanned vehicle from a road verge in use; a route offset configuration setting representing a distance between the unmanned vehicle and the maintenance machine in use; and a road verge lateral offset configuration setting representing an offset distance of the unmanned vehicle from a road verge in use; receiving maintenance machine location data from the maintenance machine location sensor representing a location of the maintenance machine; receiving unmanned vehicle location data from the unmanned vehicle location sensor representing a location of the unmanned vehicle; controlling the motors of the unmanned vehicle in accordance with the route offset configuration setting, maintenance machine location data and unmanned vehicle location data, and further in accordance with an actual route; receiving realtime road verge lateral offset data from the vision sensor subsystem representing a realtime road verge lateral offset of the unmanned vehicle from the road verge; and controlling the steering in accordance with the realtime road verge lateral offset data and the road verge lateral offset configuration setting, the system being characterised in that the unmanned vehicle route offset configuration setting is a leading route offset configuration setting such that the unmanned vehicle is configured for leading the maintenance machine, and wherein the actual route is a predetermined route obtained from a historical maintenance route.