1. A method for generating an area coverage path plan, the method comprising: identifying a starting point on a worksite map having a number of landmarks; identifying a first landmark in the number of landmarks; generating a path around the first landmark until an obstacle is detected, wherein the path around the first landmark is a set of concentric arcs; responsive to detecting the obstacle, making the path linear to a vicinity of a next landmark; and generating the path around the next landmark, wherein the path around the next landmark is another set of concentric arcs.