Operation resume functions for implement control systems and methods utilizing relative positioning

A method for controlling an implement of a machine based, at least, on a pre-determined implement control plan stored on a memory of a controller operatively associated with the machine and implement, the method comprising:

• determining, by a relative positioning system, relative positioning signals based on input of one or more perception sensors of the relative positioning system, the one or more perception sensors being operatively associated with the implement and configured for determining positioning of the implement relative to a past operation of the implement, the relative positioning signals representative of a position of the implement relative to a worksite;
• receiving, by the controller, the relative positioning signals from the relative positioning system;
• determining, by the controller, current progress of the predetermined implement control plan, relative to an actual implement operation performed by the implement, based on the relative positioning signals;
• determining, by the controller, an end position of the past operation of the implement based on one or more of the current progress, the relative positioning signals, and any combinations thereof;
• determining a resume position for a next operation of the implement based on the predetermined implement control plan and one or more of the relative positioning signals, the current progress, the end position, and any combinations thereof;
• and
• determining implement control signals based on, at least, the resume position.

A control system for controlling operation of an additive construction implement based, at least, on a pre-determined implement control plan of an additive construction control plan for constructing a structure on a worksite, the additive construction implement associated with a machine, the control system comprising:

• a relative positioning system including one or more perception sensors operatively associated with the additive construction implement and configured for determining positioning of the additive construction implement relative to a past operation of the additive construction implement, the past operation performed as part of the pre-determined implement control plan, the relative positioning system utilizing input from the perception sensors to determine relative positioning signals, the relative positioning signals representative of a position of the additive construction implement relative to a worksite;
• a controller configured to:
• determine current progress of the predetermined implement control plan,
• relative to an actual additive construction implement operation performed by the additive construction implement, based on the relative positioning signals;
• determine an end position of the past operation of the additive construction implement based on the relative positioning signals;
• determine a resume position for a next operation of the additive construction implement based on the predetermined implement control plan and at least one of the relative positioning signals and the end position;
• determine additive construction implement control signals based on, at least, the resume position;
• and
• one or more actuators, each of the one or more actuators operatively associated with one or both of the additive construction implement and machine, the one or more actuators configured to receive the additive construction implement control signals and position the additive construction implement based on the additive construction implement control signals.