#$%^&*AU2017202435A120171116.pdf#####Abstract SYSTEM FOR CONTROLLING OPERATION OF A MACHINE A control system for operating a machine includes a perception system and a controller. The perception system includes sensors that generate raw data signals pertaining to characteristics of an environment associated with the machine. The perception system also includes a processor that receives the raw data signals from the sensors and determines the characteristics of the environment from the received raw data signals. The determined characteristics of the environment include at least terrain features associated with a job site, and a presence of objects in the vicinity of the machine, wherein the objects include one of: stationary objects and moving objects. The processor also determines a current operating mode of the machine. The controller is communicably coupled to the processor and is configured to actuate subsequent operation of the machine based on the current operating mode of the machine and the characteristics of the environment determined by the processor.
