AUTONOMOUS VEHICLE WITH CONTINGENCY CONSIDERATION IN TRAJECTORY REALIZATION

Provided are methods for determining a trajectory, which can include obtaining, using the at least one processor, sensor data associated with an environment in which a vehicle is operating, wherein the environment comprises one or more agents including a first agent; determining, using the at least one processor, based on the sensor data, a first prediction associated with the first agent; determining, using at least one processor, based on the first prediction, a primary homotopy; determining, using the at least one processor, based on the primary homotopy and the first prediction, one or more contingency homotopies associated with a contingency; determining, using the at least one processor, based on the primary homotopy and the one or more contingency homotopies, a primary trajectory; and providing, using the at least one processor, operation data associated with the primary trajectory to cause the vehicle to operate based on the primary trajectory.