A method of maneuvering a vehicle in reverse for attachment to a trailer (200, 200a-c), the method comprising: receiving, at a computing device (300, 500), one or more images from one or more cameras (410, 410a-d) positioned on a back portion of the vehicle; identifying, by the computing device (300, 500), one or more trailers (200, 200a-c) within the one or more images; receiving, at the computing device (300, 500), an indication of a selected trailer (200, 200a-c) from the one or more trailers (200, 200a-c); determining, at the computing device (300, 500), a vehicle path from an initial position (P I) to a final position (P F), the vehicle path comprising maneuvers configured to move the vehicle in a rearward direction along the vehicle path from the initial position (Pi) to the final position (P F), wherein the vehicle path includes the initial position (P I), an intermediate position (P M), and the final position (P F), the intermediate position (P M) having a distance (D M) to the final position (P F) being less than a distance between the intermediate position (P M) and the initial position (P I), and wherein at the intermediate position (P M), the vehicle is in an orientation aligned generally parallel with the trailer (200, 200a-c) and facing away from the trailer (200, 200a-c); and executing, by the computing device (300, 500), one or more behaviors causing the vehicle to take an action to autonomously follow the vehicle path and execute the maneuvers, characterized in that the vehicle path is determined by extending a tow vehicle fore-aft axis in the rearward direction and by extending a trailer fore-aft axis about the length of the trailer (200, 200a-c) in a forward direction, and wherein the vehicle path is determined to be along arcs of a first circle tangent to the extended tow vehicle fore-aft axis facing the trailer fore-aft axis and a second circle tangent to the first circle and the extended trailer fore-aft axis facing the tow vehicle fore-aft axis, wherein the first and second circles (554, 556) intersect at an intersection point. receiving, at a computing device (300, 500), one or more images from one or more cameras (410, 410a-d) positioned on a back portion of the vehicle; identifying, by the computing device (300, 500), one or more trailers (200, 200a-c) within the one or more images; receiving, at the computing device (300, 500), an indication of a selected trailer (200, 200a-c) from the one or more trailers (200, 200a-c); determining, at the computing device (300, 500), a vehicle path from an initial position (P I) to a final position (P F), the vehicle path comprising maneuvers configured to move the vehicle in a rearward direction along the vehicle path from the initial position (Pi) to the final position (P F), wherein the vehicle path includes the initial position (P I), an intermediate position (P M), and the final position (P F), the intermediate position (P M) having a distance (D M) to the final position (P F) being less than a distance between the intermediate position (P M) and the initial position (P I), and wherein at the intermediate position (P M), the vehicle is in an orientation aligned generally parallel with the trailer (200, 200a-c) and facing away from the trailer (200, 200a-c); and executing, by the computing device (300, 500), one or more behaviors causing the vehicle to take an action to autonomously follow the vehicle path and execute the maneuvers, characterized in that the vehicle path is determined by extending a tow vehicle fore-aft axis in the rearward direction and by extending a trailer fore-aft axis about the length of the trailer (200, 200a-c) in a forward direction, and wherein the vehicle path is determined to be along arcs of a first circle tangent to the extended tow vehicle fore-aft axis facing the trailer fore-aft axis and a second circle tangent to the first circle and the extended trailer fore-aft axis facing the tow vehicle fore-aft axis, wherein the first and second circles (554, 556) intersect at an intersection point.