Autonav
-------
 | | |
 | | | Turret Placement
 | | | ----------------
 | | |  |      |
 | | v  |      v
 | | ---+-------
 | |    |     Resource Allocation
 | |    |     -------------------
 | |    |       |   |  |     |
 | v    v       v   |  |     v
 | --------------   |  |    ---
 |     Bouys        |  |    Node Importance
 |                  |  |    ---------------
 |                  |  v              |  |
 |                  | ---             |  |
 |                  | Traffic Mapping |  |
 |                  | --------------- |  v
 |                  |        |        | ---
 |                  |        |        | Asset Importance
 v                  v        v        |
-------------------------------       |
    Candidate Lane Mapping            |
    ----------------------            |
               |                      |
               v                      v
              ----------------------------
                 Node Mapping (/Merging)