Patent Document ID: 8396611
Application ID: 13331833
Patent Flag: 1

Claim One:
1. A method for implementing a retrotraverse software routine for a remote vehicle configured to communicate with an operator control unit when a control signal from the operator control unit is not received, the method comprising: executing the retrotraverse software routine, using a processor, including or in communication with a waypoint routine that maintains a list of time-stamped waypoints stored in a memory to cause the remote vehicle to be navigated according to the retrotraverse software routine, the time-stamped waypoints separated by at least a minimum difference in time and distance, the waypoint routine or the retrotraverse software routine generating a return path interconnecting at least two previously-traversed waypoints in reverse order of timestamps, wherein the remote vehicle is navigated successively to a next previous time-stamped waypoint in the list until a control signal is received from the operator control unit.