Patent ID: 8255092

Claim:
A method for performing a retrotraverse behavior for a remote vehicle, the method comprising: determining, by a processor, whether the retrotraverse is active; if the retrotraverse behavior is active; erasing previously-used waypoints; determining a current position of the remote vehicle and a current time, and pre-pending the current position and the current time to a list of time stamped waypoints; generating additional waypoints and adding them to the list of time stamped waypoints; storing the list of time stamped waypoints; determining whether a control signal has been received from an operator control unit; if the control signal has not been received from the operator control unit; setting a retrotraverse start time to the current time; generating a return path interconnecting previously-traversed waypoints in reverse order of timestamps; navigating the remote vehicle along the return path until the control signal is received from the operator control unit; and setting a retrotraverse end time to the current time.