Method for defining a fallback route for a mobile machine, associated fallback method to join such a route for a mobile machine, associated module and computer program.

The method involves defining a set of points i.e. beacon points, for a fall back route such that edges of Voronoi diagram associated with the set of beacon points separate polygons described by convex zones (ZN1-ZN6) of three-dimensional (3D) displacement zone (ZNd) in the plane. An identifier of…

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