An apparatus and method for centralized control of a vehicle. The apparatus includes a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the apparatus to: establish control of a vehicle, wherein establishing the control further includes determining a set of instructions for controlling the vehicle, wherein the apparatus is configured to control the vehicle based on the determined set of instructions; determine, for a node, a subset of the set of instructions for controlling the vehicle; generate a mission plan for the vehicle based on a request from the node when the request is valid, wherein the request indicates a requested navigation from a first location to a second location, wherein the request is not valid when the requested navigation is not in the subset of instructions; and send, to the vehicle, control instructions for navigating to the first location and control instructions for navigating from the first location to the second location based on the mission plan.