Motion planning

A method comprising:

• selectively analyzing a graph based at least on costs associated with at least one of vertices or edges of the graph:
• the vertices indexed at least by configurations of a machine in a configuration space and by maneuver types used by the machine to traverse the configurations,
• the edges including maneuver edges linking first groups of the vertices corresponding to different configurations and a same maneuver type of the maneuver types, and
• the edges including transition edges linking within second groups of the vertices, one or more first vertices representing a first maneuver type to one or more second vertices representing a same configuration of the configurations as the one or more first vertices, and a second maneuver type of the maneuver types that is different than the first maneuver type, the analyzing using the transition edges to model, in the costs for the second groups, transition costs of the machine switching between the first maneuver type and the second maneuver type while retaining the same configuration;
• based at least on the selectively analyzing, determining, using the costs, one or more paths through the graph;
• and
• performing one or more control operations associated with the machine based at least on the one or more paths.