US Patent 9528836 Access route optimization for harvestable resources

Methods and apparatuses for generating a route plan for accessing harvestable resources is provided. A processor receives a node layout for a location with harvestable resources, wherein the location includes at least two parcels. A processor determines a first route network for the location at a first time step. A processor determines a second route network for the location at a second time step. A processor generates a first route plan is based, at least in part, on the first route network and the second route network.