Method of controlling a vehicle (100; 100') or a robot, wherein said method comprises the following steps: determining a first control sequence, determining a second control sequence for controlling said vehicle (100; 100') depending on said first control sequence, a current state (cst) of said vehicle (100; 100') or robot, and on a model characterizing a dynamic behavior of said vehicle (100; 100') or robot, controlling said vehicle (100; 100') or robot depending on said second control sequence, wherein said determining of said first control sequence comprises: providing a first candidate control sequence, determining a first accumulated trajectory cost associated with said first candidate control sequence, providing a second candidate control sequence, determining a second accumulated trajectory cost associated with said second candidate control sequence, comparing said first accumulated trajectory cost with said second accumulated trajectory cost, and, depending on said comparison, using said first candidate control sequence (ccsl) as said first control sequence or using a weighted sum (ws) of said first candidate control sequence (ccsl) and said second candidate control sequence as said first control sequence if the second accumulated trajectory cost has a lower cost than said first accumulated trajectory cost. determining a first control sequence, determining a second control sequence for controlling said vehicle (100; 100') depending on said first control sequence, a current state (cst) of said vehicle (100; 100') or robot, and on a model characterizing a dynamic behavior of said vehicle (100; 100') or robot, controlling said vehicle (100; 100') or robot depending on said second control sequence, wherein said determining of said first control sequence comprises: providing a first candidate control sequence, determining a first accumulated trajectory cost associated with said first candidate control sequence, providing a second candidate control sequence, determining a second accumulated trajectory cost associated with said second candidate control sequence, comparing said first accumulated trajectory cost with said second accumulated trajectory cost, and, depending on said comparison, using said first candidate control sequence (ccsl) as said first control sequence or using a weighted sum (ws) of said first candidate control sequence (ccsl) and said second candidate control sequence as said first control sequence if the second accumulated trajectory cost has a lower cost than said first accumulated trajectory cost. providing a first candidate control sequence, determining a first accumulated trajectory cost associated with said first candidate control sequence, providing a second candidate control sequence, determining a second accumulated trajectory cost associated with said second candidate control sequence, comparing said first accumulated trajectory cost with said second accumulated trajectory cost, and, depending on said comparison, using said first candidate control sequence (ccsl) as said first control sequence or using a weighted sum (ws) of said first candidate control sequence (ccsl) and said second candidate control sequence as said first control sequence if the second accumulated trajectory cost has a lower cost than said first accumulated trajectory cost.