Path planning

A method comprising:

• computing, for at least two maneuvers that share a common pose in a discretized space of poses, at least two candidate costs for a machine to reach the common pose using a respective maneuver of the at least two maneuvers based at least on applying, to a cost for the machine to reach a pose of the respective maneuver, one or more transition penalties for the machine to switch to the respective maneuver;
• selecting, from the at least two candidate costs, a first candidate cost for the common pose based at least on the first candidate cost being lower than a second candidate cost of the at least two candidate costs;
• and
• causing one or more operations of the machine based on a path determined using the selected first candidate cost for the common pose.

A system comprising:

• one or more central processing units (CPUs);
• one or more graphics processing units (GPUs);
• one or more hardware accelerators;
• and
• one or more sensors having one or more fields of view or one or more sensory fields,
• wherein the system causes a machine to perform one or more operations based at least on a first candidate cost selected from at least two candidate costs for the machine to reach a common pose based at least on being lower than a second candidate cost of the at least two candidate costs, the at least two candidate costs computed using a respective maneuver of the at least two maneuvers based at least on applying, to a cost for the machine to reach a pose of the respective maneuver, one or more transition penalties for the machine to switch to the respective maneuver.