BUFFER-AWARE NAVIGATION FOR A VEHICLE

Buffer-aware navigation is provided for a vehicle to reduce trespassing of constraint areas, for example, due to positioning inaccuracy. Buffer-aware navigation may further enable navigation for vehicles positioned within a buffer or threshold distance of a constraint area to exit the buffer. An example method includes defining a visibility graph including nodes positioned beyond a threshold distance away from constraint areas and edges connecting the nodes. The method further includes obtaining a location of a vehicle and, in accordance with determining that the vehicle location is within the threshold distance of a constraint area, generating a projected location of the vehicle that is beyond the threshold distance away from constraint areas. The method further includes determining a navigation path along the visibility graph based at least in part on a target location and the projected location and providing the navigation path to the vehicle for navigation.