High integrity coordination system for multiple off-road vehicles

A method for coordinating a plurality of controllable vehicles to perform a task, the method comprising:

• identifying a role assigned to each controllable vehicle in the plurality of controllable vehicles;
• a data processing system selecting one or more coordinating behaviors, one or more subtasks, and one or more specific behaviors from a plurality of coordinating behaviors, a plurality of subtasks for performing the number of tasks, and a plurality of specific behaviors, respectively, for use by the plurality of controllable vehicles, wherein the one or more coordinating behaviors, the one or more subtasks, and the one or more specific behaviors are associated with the role assigned, wherein the one or more coordinating behaviors is associated with the number of tasks, and wherein the plurality of specific behaviors is associated with the plurality of subtasks;
• the data processing system downloading the one or more coordinating behaviors, the one or more subtasks, and the one or more specific behaviors that are associated with the role assigned to each controllable vehicle in the plurality of controllable vehicles;
• and
• comparing versions of the coordinating behaviors downloaded to each controllable vehicle to ensure a correct version thereof is contained in each controllable vehicle.