A system comprising: one or more processors; and a memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising: receiving a route associated with a start position and an end position in an environment; receiving sensor data from a sensor; determining, based at least in part on the sensor data, a data structure identifying whether portions of the environment are occupied; the system being characterized in that the operations further comprise: determining, based at least in part on the route, a grid comprising a plurality of layers along the route, wherein an individual layer of the plurality of layers is associated with a portion of the route and comprises a plurality of nodes; selecting, as sample nodes and based at least in part on the grid and the data structure, one or more nodes of the plurality of layers; and determining, based at least in part on a search for a set of connections between the sample nodes, a first path between at least one of the end position or an end layer associated with the end position and the start position, wherein the search is based at least in part on the data structure and a set of values associated with one or more motion primitives. one or more processors; and a memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising: receiving a route associated with a start position and an end position in an environment; receiving sensor data from a sensor; determining, based at least in part on the sensor data, a data structure identifying whether portions of the environment are occupied; the system being characterized in that the operations further comprise: determining, based at least in part on the route, a grid comprising a plurality of layers along the route, wherein an individual layer of the plurality of layers is associated with a portion of the route and comprises a plurality of nodes; selecting, as sample nodes and based at least in part on the grid and the data structure, one or more nodes of the plurality of layers; and determining, based at least in part on a search for a set of connections between the sample nodes, a first path between at least one of the end position or an end layer associated with the end position and the start position, wherein the search is based at least in part on the data structure and a set of values associated with one or more motion primitives. receiving a route associated with a start position and an end position in an environment; receiving sensor data from a sensor; determining, based at least in part on the sensor data, a data structure identifying whether portions of the environment are occupied; the system being characterized in that the operations further comprise: determining, based at least in part on the route, a grid comprising a plurality of layers along the route, wherein an individual layer of the plurality of layers is associated with a portion of the route and comprises a plurality of nodes; selecting, as sample nodes and based at least in part on the grid and the data structure, one or more nodes of the plurality of layers; and determining, based at least in part on a search for a set of connections between the sample nodes, a first path between at least one of the end position or an end layer associated with the end position and the start position, wherein the search is based at least in part on the data structure and a set of values associated with one or more motion primitives. determining, based at least in part on the route, a grid comprising a plurality of layers along the route, wherein an individual layer of the plurality of layers is associated with a portion of the route and comprises a plurality of nodes; selecting, as sample nodes and based at least in part on the grid and the data structure, one or more nodes of the plurality of layers; and determining, based at least in part on a search for a set of connections between the sample nodes, a first path between at least one of the end position or an end layer associated with the end position and the start position, wherein the search is based at least in part on the data structure and a set of values associated with one or more motion primitives.