An apparatus for centralized control of at least one vehicle, the apparatus comprising a processing circuitry and a memory, wherein the apparatus is a first node, wherein the memory contains instructions that, when executed by the processing circuitry, configure the first node to: establish control of the at least one vehicle, wherein establishing the control further comprises determining a set of instructions for controlling the at least one vehicle and sending the set of instructions for controlling the at least one vehicle from the first node to the at least one vehicle, wherein the set of instructions configures the at least one vehicle to only accept instructions from the first node; generate a mission plan for a first vehicle of the at least one vehicle based on a request from a second node when the request is valid, characterized in that the request indicates at least a first location and a second location, wherein a direct access to the first vehicle is not granted to the second node; determine, for the second node, a subset of the determined set of instructions for controlling the first vehicle, wherein the subset includes at least one allowable instruction for the second node; wherein the request is valid when the subset of instructions for the second node includes the control instructions for navigating the first vehicle to the first location and the control instructions for navigating the first vehicle from the first location to the second location, and wherein the request is not valid when at least one of the following is true: the control instructions for navigating the first vehicle to the first location includes at least one instruction that is not one of the at least one allowable instruction for the second node, and the control instructions for navigating the first vehicle from the first location to the second location includes at least one instruction that is not one of the at least one allowable instruction for the second node. wherein when the request is valid: send, to the first vehicle, control instructions for navigating to the first location based on the mission plan; and send, to the first vehicle, control instructions for navigating from the first location to the second location based on the mission plan, when the first vehicle is at the first location. the memory contains instructions that, when executed by the processing circuitry, configure the first node to: establish control of the at least one vehicle, wherein establishing the control further comprises determining a set of instructions for controlling the at least one vehicle and sending the set of instructions for controlling the at least one vehicle from the first node to the at least one vehicle, wherein the set of instructions configures the at least one vehicle to only accept instructions from the first node; generate a mission plan for a first vehicle of the at least one vehicle based on a request from a second node when the request is valid, establish control of the at least one vehicle, wherein establishing the control further comprises determining a set of instructions for controlling the at least one vehicle and sending the set of instructions for controlling the at least one vehicle from the first node to the at least one vehicle, wherein the set of instructions configures the at least one vehicle to only accept instructions from the first node; generate a mission plan for a first vehicle of the at least one vehicle based on a request from a second node when the request is valid, characterized in that the request indicates at least a first location and a second location, wherein a direct access to the first vehicle is not granted to the second node; determine, for the second node, a subset of the determined set of instructions for controlling the first vehicle, wherein the subset includes at least one allowable instruction for the second node; wherein the request is valid when the subset of instructions for the second node includes the control instructions for navigating the first vehicle to the first location and the control instructions for navigating the first vehicle from the first location to the second location, and wherein the request is not valid when at least one of the following is true: the control instructions for navigating the first vehicle to the first location includes at least one instruction that is not one of the at least one allowable instruction for the second node, and the control instructions for navigating the first vehicle from the first location to the second location includes at least one instruction that is not one of the at least one allowable instruction for the second node. wherein when the request is valid: send, to the first vehicle, control instructions for navigating to the first location based on the mission plan; and send, to the first vehicle, control instructions for navigating from the first location to the second location based on the mission plan, when the first vehicle is at the first location. send, to the first vehicle, control instructions for navigating to the first location based on the mission plan; and send, to the first vehicle, control instructions for navigating from the first location to the second location based on the mission plan, when the first vehicle is at the first location.