A rotary steerable system for use with a drilling rig (1404; 1500), comprising: - a network interface ; - a processor coupled to the network interface ; - a memory coupled to the processor , the memory storing a plurality of instructions for execution by the processor , the plurality of instructions including: - instructions for calculating a plurality of convergence plans if an estimated position of a drill bit does not match a desired point along a planned path for a borehole , within a defined margin of error, wherein each of the plurality of convergence plans defines a solution vector to realign the drill bit with the planned path based on drilling operation information that includes a set of financial cost parameters; - instructions for selecting one of the plurality of convergence plans based on a set of target parameters; - instructions for producing a set of control parameters representing the selected one of the convergence plans; and - wherein the processor is configured, upon execution of one of the plurality of instructions, to transmit one or more commands to one or more rotary steering components of the rotary steerable system to actuate the one or more rotary steering components , in order to alter the planned path for the borehole in accordance with the set of control parameters, - wherein the one or more rotary steering components are located within a bottom hole assembly coupled to the drilling rig (1404; 1500). - a network interface ; - a processor coupled to the network interface ; - a memory coupled to the processor , the memory storing a plurality of instructions for execution by the processor , the plurality of instructions including: - instructions for calculating a plurality of convergence plans if an estimated position of a drill bit does not match a desired point along a planned path for a borehole , within a defined margin of error, wherein each of the plurality of convergence plans defines a solution vector to realign the drill bit with the planned path based on drilling operation information that includes a set of financial cost parameters; - instructions for selecting one of the plurality of convergence plans based on a set of target parameters; - instructions for producing a set of control parameters representing the selected one of the convergence plans; and - instructions for calculating a plurality of convergence plans if an estimated position of a drill bit does not match a desired point along a planned path for a borehole , within a defined margin of error, wherein each of the plurality of convergence plans defines a solution vector to realign the drill bit with the planned path based on drilling operation information that includes a set of financial cost parameters; - instructions for selecting one of the plurality of convergence plans based on a set of target parameters; - instructions for producing a set of control parameters representing the selected one of the convergence plans; and - wherein the processor is configured, upon execution of one of the plurality of instructions, to transmit one or more commands to one or more rotary steering components of the rotary steerable system to actuate the one or more rotary steering components , in order to alter the planned path for the borehole in accordance with the set of control parameters, - wherein the one or more rotary steering components are located within a bottom hole assembly coupled to the drilling rig (1404; 1500). <EOS>