Autonomous behaviors for a remote vehicle

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.