Closed loop fully autonomous directional drilling

A computer-implemented method comprising:

• receiving, by a surface controller, a well plan for performing directional drilling of a wellbore;
• determining, based on the well plan, a first drilling instruction for directing a drilling and steering system to drill the wellbore;
• sending the first drilling instruction to a downhole controller that is coupled to the drilling and steering system;
• receiving at least one sensor measurement from a downhole sensor that is associated with the drilling and steering system;
• determining, based on the well plan and the at least one sensor measurement, a second drilling instruction for directing the drilling and steering system to drill the wellbore;
• and
• sending the second drilling instruction to the downhole controller that is coupled to the drilling and steering system.

A drilling and steering system comprising:

• a drilling apparatus;
• a downhole controller that is coupled to the drilling apparatus;
• and
• a surface controller that is coupled to the downhole controller and the drilling apparatus, wherein the surface controller is configured to:
• determine, based on a well plan, a first drilling instruction for directing the drilling apparatus to perform directional drilling of a first section of a wellbore;
• and
• transfer, based on the well plan, control of the drilling apparatus to the downhole controller, wherein the downhole controller is configured to:
• determine, based on the well plan, a second drilling instruction for directing the drilling apparatus to perform directional drilling of a second section of the wellbore.