A method of generating flight paths for navigating an aircraft, comprising: hovering the aircraft at a predetermined hover point, wherein the predetermined hover point corresponds to a first takeoff waypoint of a first trajectory of the aircraft, wherein the first trajectory of the aircraft comprises a predetermined takeoff trajectory; scanning, by one or more sensors associated with the aircraft, at least a portion of a first flight path of the first trajectory; using sensor data obtained by the one or more sensors, determining that an obstacle obstructs the first flight path of the first trajectory, wherein the first flight path begins at the first takeoff waypoint; responsive to determining that the obstacle obstructs the first flight path, (i) using the sensor data, determining a second takeoff waypoint, the second takeoff waypoint having a different height and/or orientation to the first takeoff waypoint, wherein determining the second takeoff waypoint comprises assigning the first flight path to begin at the second takeoff waypoint, wherein the second takeoff waypoint corresponds to a second hover point, and (ii) changing the first flight path of the first trajectory in accordance with the second takeoff waypoint by translating the flight path to align with the second takeoff waypoint, such that the flight path begins at the second takeoff waypoint, and/or rotating the flight path to avoid the obstacle from obstructing the flight path, thereby generating a second flight path of a second trajectory; and causing the aircraft to follow the second flight path of the second trajectory from the second takeoff waypoint. hovering the aircraft at a predetermined hover point, wherein the predetermined hover point corresponds to a first takeoff waypoint of a first trajectory of the aircraft, wherein the first trajectory of the aircraft comprises a predetermined takeoff trajectory; scanning, by one or more sensors associated with the aircraft, at least a portion of a first flight path of the first trajectory; using sensor data obtained by the one or more sensors, determining that an obstacle obstructs the first flight path of the first trajectory, wherein the first flight path begins at the first takeoff waypoint; responsive to determining that the obstacle obstructs the first flight path, (i) using the sensor data, determining a second takeoff waypoint, the second takeoff waypoint having a different height and/or orientation to the first takeoff waypoint, wherein determining the second takeoff waypoint comprises assigning the first flight path to begin at the second takeoff waypoint, wherein the second takeoff waypoint corresponds to a second hover point, and (ii) changing the first flight path of the first trajectory in accordance with the second takeoff waypoint by translating the flight path to align with the second takeoff waypoint, such that the flight path begins at the second takeoff waypoint, and/or rotating the flight path to avoid the obstacle from obstructing the flight path, thereby generating a second flight path of a second trajectory; and (i) using the sensor data, determining a second takeoff waypoint, the second takeoff waypoint having a different height and/or orientation to the first takeoff waypoint, wherein determining the second takeoff waypoint comprises assigning the first flight path to begin at the second takeoff waypoint, wherein the second takeoff waypoint corresponds to a second hover point, and (ii) changing the first flight path of the first trajectory in accordance with the second takeoff waypoint by translating the flight path to align with the second takeoff waypoint, such that the flight path begins at the second takeoff waypoint, and/or rotating the flight path to avoid the obstacle from obstructing the flight path, thereby generating a second flight path of a second trajectory; and causing the aircraft to follow the second flight path of the second trajectory from the second takeoff waypoint.