A processor implemented method comprising: Sending a route plan to an autonomous vehicle in response to a request received from the autonomous vehicle from amongst a plurality of autonomous vehicles in an operating environment comprising one or more devices and device zones, wherein the route plan comprises navigation segments including a plurality of nodes to follow to reach a destination node, and wherein the device zone is an area around a device; categorizing the route plan into path segments, the path segments comprising a first path segment including one or more nodes from the plurality of nodes being inside a device zone of the one or more devices and a second path segment including one or more nodes from the plurality of nodes being outside the device zone of the one or more devices ; determining a type of path segment from the categorized path segments for each of the nodes in the navigation segment, wherein the type of determined path segment being the first path segment comprising a first device from the one or more devices, wherein the first device is mapped to a first node from the one or more nodes of the first path segment, and wherein the first node is assigned a first precondition comprising an action to enter the device zone of the first device ; and characterized in annotating the first node of the first path segment with a second precondition based on determination of a destination node from the one or more nodes, wherein the second precondition comprises performing a hard lock action of the first device for the autonomous vehicle traversing the first path segment to the destination node when it is determined that the destination node is within the device zone of the first device, wherein the hard lock action is permission for the autonomous vehicle to enter the device zone of the first device . Sending a route plan to an autonomous vehicle in response to a request received from the autonomous vehicle from amongst a plurality of autonomous vehicles in an operating environment comprising one or more devices and device zones, wherein the route plan comprises navigation segments including a plurality of nodes to follow to reach a destination node, and wherein the device zone is an area around a device; categorizing the route plan into path segments, the path segments comprising a first path segment including one or more nodes from the plurality of nodes being inside a device zone of the one or more devices and a second path segment including one or more nodes from the plurality of nodes being outside the device zone of the one or more devices ; determining a type of path segment from the categorized path segments for each of the nodes in the navigation segment, wherein the type of determined path segment being the first path segment comprising a first device from the one or more devices, wherein the first device is mapped to a first node from the one or more nodes of the first path segment, and wherein the first node is assigned a first precondition comprising an action to enter the device zone of the first device ; and characterized in annotating the first node of the first path segment with a second precondition based on determination of a destination node from the one or more nodes, wherein the second precondition comprises performing a hard lock action of the first device for the autonomous vehicle traversing the first path segment to the destination node when it is determined that the destination node is within the device zone of the first device, wherein the hard lock action is permission for the autonomous vehicle to enter the device zone of the first device . <EOS>