A control system for controlling operation of an implement based, at least, on a pre-determined implement control plan, includes a relative positioning system, a controller, and one or more actuators. The relative positioning system is configured for determining positioning of the and utilize input from perception sensors to determine relative positioning signals. The controller is configured to determine a resume position for a next operation of the implement based on the predetermined implement control plan and at least one of the relative positioning signals and an end position of a previous operation of the implement. The controller may further be configured to determine implement control signals based on, at least, the resume position. The one or more actuators are each operatively associated with one or both of the implement and machine and configured to receive the implement control signals and position the implement based on the implement control signals.