Methods and apparatus to control machine configurations

An apparatus comprising:

• a path identifier to determine a desired trajectory of at least two auxiliary machines based at least in part on a desired work path or an alignment of a host machine and the auxiliary machines, wherein each of the auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;
• an alignment monitor to:
• determine a first actual trajectory of each of the auxiliary machines;
• compare the desired trajectory of the auxiliary machines to the first actual trajectory of the auxiliary machines;
• when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, a power assist controller selects a trajectory-assist mode;
• in response to the trajectory-assist mode being selected, a trajectory controller is to at least one of 1) control a first one of ground engaging elements of each of the auxiliary machines in one of a free-wheeling mode, a minimum-slip mode, or a braking mode and control a second one of the ground engaging elements in another one of the free-wheeling mode, the minimum-slip mode, or the braking mode or 2) apply a first amount of power to the first one of the ground engaging elements and apply a second amount of power to the second one of the ground engaging elements.

A method comprising:

• determining a desired trajectory of at least two auxiliary machines based at least in part on a desired work path or an alignment of a host machine and the auxiliary machines, wherein each of the auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;
• determining a first actual trajectory of each of the auxiliary machines;
• comparing the desired trajectory of the auxiliary machines to the first actual trajectory of the auxiliary machines;
• when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, crab steering each of the auxiliary machines toward the desired trajectory while a course of the host machine is different than a course of the auxiliary machines.

A method comprising:

• determining a desired trajectory of a first auxiliary machine and a second auxiliary machine based at least in part on a desired work path or an alignment of a host machine, the auxiliary machine, and the second auxiliary machine, wherein the first auxiliary machine and the second auxiliary machine are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;
• determining a first actual trajectory of the first auxiliary machine and the second auxiliary machine;
• comparing the desired trajectory of the first auxiliary machine and the second auxiliary machine to the first actual trajectory of the first auxiliary machine and the second auxiliary machine;
• when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, selecting a trajectory-assist mode;
• in response to the trajectory-assist mode being selected:
• steering the first auxiliary machine and the second auxiliary machine toward the desired trajectory;
• and
• at least one of 1) controlling a first one of ground engaging elements of at least one of the first auxiliary machine or the second auxiliary machine in one of a free-wheeling mode, a minimum-slip mode, or a braking mode and controlling a second one of the ground engaging elements of the at least one of the first auxiliary machine or the second auxiliary machine in another one of the free-wheeling mode, the minimum-slip mode, or the braking mode or 2) applying a first amount of power to the first one of the ground engaging elements and applying a second amount of power to the second one of the ground engaging elements.