A computer-implemented traffic planning method for controlling a plurality of vehicles which are movable among multiple shared resources in accordance with predefined motion commands, each resource representing space for transport or parking, a communication channel, maintenance machinery or additional equipment for optional temporary use, wherein a vehicle is allowed to move from a first resource to a second resource if the first resource is connected to the second resource and the second resource is not occupied, the method comprising the following steps to be performed by processing circuitry of a computer system: receiving a transport mission to be carried out by the vehicles; generating a root node representing an initial resource occupancy of the vehicles; sequentially generating a search tree from the root node, in which each edge represents a motion command and each node represents a resource occupancy, wherein each node is associated with a score including an anticipated reward related to the vehicles' fulfilment of the transport mission; identifying, among the nodes of the search tree, a target node with an acceptable score; and deriving a planned sequence of motion commands corresponding to a path from the root node to the target node, wherein the sequential generating of the search tree comprises: - generating (114.4) child nodes of a leaf node only if the leaf node satisfies a tree-expansion criterion (114.2); - evaluating (114.6) any generated child node with respect to the vehicles' fulfilment of the transport mission and assigning a corresponding reward to the child node's score; and - adding (114.8) an anticipated value of the assigned reward to the scores of all parent nodes of said child node, characterized in that the tree-expansion criterion is satisfied if the leaf node represents a resource occupancy which is not a deadlock state and/or no vehicle has a battery-energy level below an energy threshold. receiving a transport mission to be carried out by the vehicles; generating a root node representing an initial resource occupancy of the vehicles; sequentially generating a search tree from the root node, in which each edge represents a motion command and each node represents a resource occupancy, wherein each node is associated with a score including an anticipated reward related to the vehicles' fulfilment of the transport mission; identifying, among the nodes of the search tree, a target node with an acceptable score; and deriving a planned sequence of motion commands corresponding to a path from the root node to the target node, wherein the sequential generating of the search tree comprises: - generating (114.4) child nodes of a leaf node only if the leaf node satisfies a tree-expansion criterion (114.2); - evaluating (114.6) any generated child node with respect to the vehicles' fulfilment of the transport mission and assigning a corresponding reward to the child node's score; and - adding (114.8) an anticipated value of the assigned reward to the scores of all parent nodes of said child node, - generating (114.4) child nodes of a leaf node only if the leaf node satisfies a tree-expansion criterion (114.2); - evaluating (114.6) any generated child node with respect to the vehicles' fulfilment of the transport mission and assigning a corresponding reward to the child node's score; and - adding (114.8) an anticipated value of the assigned reward to the scores of all parent nodes of said child node, characterized in that the tree-expansion criterion is satisfied if the leaf node represents a resource occupancy which is not a deadlock state and/or no vehicle has a battery-energy level below an energy threshold.