Trajectory planning utilizing a stateful planner and a stateless planner

A system comprising:

• at least one processor, and
• at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to:
• generate a plurality of trajectories for a vehicle from a plurality of poses based on a first trajectory associated with the vehicle, wherein combinations of trajectories of the plurality of trajectories represent a plurality of paths for the vehicle through an environment;
• adjust the plurality of trajectories to obtain an adjusted plurality of trajectories based on component data associated with the vehicle;
• select a second trajectory from the adjusted plurality of trajectories;
• and
• determine a path for the vehicle to operate along based on the second trajectory.

At least one non-transitory storage media storing instructions that, when executed by a computing system comprising a processor, cause the computing system to:

• generate a plurality of trajectories for a vehicle from a plurality of poses based on a first trajectory associated with the vehicle, wherein combinations of trajectories of the plurality of trajectories represent a plurality of paths for the vehicle through an environment;
• adjust the plurality of trajectories to obtain an adjusted plurality of trajectories based on component data associated with the vehicle;
• select a second trajectory from the adjusted plurality of trajectories;
• and
• determine a path for the vehicle to operate along based on the second trajectory.