Fuente: WIPO "tomato" A vehicle moves through a construction environment and performs one or more construction actions in the environment. A master coordinator associated with the construction environment updates a global state of the construction environment based on the performed construction actions. The master coordinator may determine a plan of construction actions for machines in the environment using a generative language model and send instruction to perform the construction actions or capture data from an associated viewpoint based on the global state to the machines. Each machine may have a local coordinator that determines its local state based on sensor data and may alter actions within alteration constraints provided by the master coordinator. The master coordinator receives local states from the machines over time, updates the global state accordingly, and sends instructions to the one or more machines based on the updated global state.