Static multi-registration performs a delayed convoy mission from a recorded path. The data recorded for delayed convoy includes both positions traversed by the vehicle and the obstacles sensed as it drove along the path and generates a new path file in this format that is used by the vehicle to follow the desired route. The data is processed before it is passed to the vehicle to be followed. Paths are processed to determine where they cross each other. These intersection points and the path data are used to create an interconnected graph of path segments. A multi-registration planner uses that information on the length and directionality of the path segments to compute the best route between two intersections. The route generated by the planner guides the merging of position and obstacle data from several recorded paths into a single record used by the vehicle to follow the desired route.