Automatic aircraft taxiing

A non-transitory computer-readable medium comprising computer-executable instructions, the computer-executable instructions causing one or more processing units of an aircraft to:

• acquire an airport map that includes a plurality of edge data structures, each of the edge data structures including a plurality of waypoints and membership data that indicates a location at an airport;
• access a sequence of membership transitions associated with the membership data, the membership transitions configured to indicate a sequence of edges satisfying a membership rule for the plurality of edge data structures;
• access geometry information of at least one edge transition between edge data structures;
• receive a starting location and a starting heading of the aircraft at the airport;
• determine a destination location and a destination heading for the aircraft at the airport;
• generate a taxiing path plan for the aircraft based on the airport map, the starting location, the starting heading, the destination location, the sequence of membership transitions, the geometry information associated with the at least one edge transition, and the destination heading, wherein the taxiing path plan includes a sequence of waypoints from the edge data structures;
• and
• execute the taxiing path plan by following the sequence of waypoints in the taxiing path plan.