Method and system for deterministic trajectory selection based on uncertainty estimation for an autonomous agent

A method for trajectory determination of an autonomous agent, the method comprising:

• collecting a set of inputs;
• determining a first trajectory of a set of candidate trajectories based on the set of inputs, the first trajectory associated with a first uncertainty;
• determining a second trajectory of the set of candidate trajectories;
• determining a second uncertainty associated with the set of inputs;
• comparing the first uncertainty with a first threshold, wherein in an event that the first uncertainty exceeds the first threshold, eliminating the first trajectory from the set of candidate trajectories;
• comparing the second uncertainty with a second threshold, wherein in an event that the second uncertainty exceeds the second threshold, eliminating the first trajectory from the set of candidate trajectories;
• determining a final trajectory for the autonomous agent based on the comparison with the set of constraints.