A compactor can include an interface configured to receive position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor. The compactor can also include processing circuitry coupled to the interface to receive position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor. The processing circuitry can generate a path plan for the work machine based on location and classification of the first side edge and the second side edge. The processing circuitry can operate the compactor based on the path plan.