State Switch to Condition
Start Forward Receive start signal from joystick or control interface
Forward AvoidEquip Sensitive equipment detected in the trajectory
Forward AvoidHuman Human detected in the trajectory
Forward AvoidPlant Plant occlusion detected in the trajectory
Forward Stop Obstacle detected in close proximity; all trajectories are blocked
Forward Swerve Current trajectory is blocked, not all trajectories are blocked
Forward TaskExecution Task execution required within the distance range
Forward MissionAccomp Goal position within the distance range
Stop Forward Obstacle removed or clear path detected
Swerve Forward Drive parallel to the center
Swerve Follow All trajectories are blocked
Follow Forward Not all trajectories are blocked
TaskExecution Forward Task completed
Any state EmergencyStop Receive emergency stop signal
EmergencyStop Forward No emergency stop signal