A method of area coverage planning with replenishment planning for an autonomous vehicle that spreads a material in a work area, the method comprising, at a computer system: receiving information of a boundary of the work area; receiving location information of one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830) for replenishing the material; receiving information of a current amount of the material left in the autonomous vehicle; based on the information of the boundary of the work area, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, the plurality of tracks being spaced apart from each other by a spacing; generating a coverage trajectory (1690, 1760) that is traversable by the autonomous vehicle to traverse the plurality of tracks; based on (i) the coverage trajectory (1690, 1760), (ii) the location information of the one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830), (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points (1740, 1750, 1760, 1840, 1850, 1860) along the coverage trajectory (1690, 1760) at which a remaining amount of the material reaches a threshold; and for each respective logistic point of the one or more logistic points (1740, 1750, 1760, 1840, 1850, 1860), generating a respective replenishment trajectory for the autonomous vehicle, the respective replenishment trajectory comprising: a first part from the respective logistic point to a respective refill station of the one of the one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830) for replenishing the autonomous vehicle with the material; and a second part from the respective refill station to the respective logistic point for the autonomous vehicle to resume traversing the coverage trajectory (1690, 1760); characterized in that laying the plurality of tracks comprises: performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize the total distance of the plurality of tracks. receiving information of a boundary of the work area; receiving location information of one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830) for replenishing the material; receiving information of a current amount of the material left in the autonomous vehicle; based on the information of the boundary of the work area, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, the plurality of tracks being spaced apart from each other by a spacing; generating a coverage trajectory (1690, 1760) that is traversable by the autonomous vehicle to traverse the plurality of tracks; based on (i) the coverage trajectory (1690, 1760), (ii) the location information of the one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830), (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points (1740, 1750, 1760, 1840, 1850, 1860) along the coverage trajectory (1690, 1760) at which a remaining amount of the material reaches a threshold; and for each respective logistic point of the one or more logistic points (1740, 1750, 1760, 1840, 1850, 1860), generating a respective replenishment trajectory for the autonomous vehicle, the respective replenishment trajectory comprising: a first part from the respective logistic point to a respective refill station of the one of the one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830) for replenishing the autonomous vehicle with the material; and a second part from the respective refill station to the respective logistic point for the autonomous vehicle to resume traversing the coverage trajectory (1690, 1760); a first part from the respective logistic point to a respective refill station of the one of the one or more refill stations (1610, 1620, 1630, 1730, 1820, 1830) for replenishing the autonomous vehicle with the material; and a second part from the respective refill station to the respective logistic point for the autonomous vehicle to resume traversing the coverage trajectory (1690, 1760); characterized in that laying the plurality of tracks comprises: performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize the total distance of the plurality of tracks.