A system for coordinating path planning in a warehouse, the system comprising: a plurality of automated vehicles located within the warehouse, each of the automated vehicles comprising a navigation module in communication with a steering component and/or a motion component; and a computing device comprising one or more central processing units in communication with each of the automated vehicles through a network; characterized in that the one or more central processing units execute instructions to: access a multi-level graph comprising high-level nodes corresponding to an area of the warehouse, wherein each of the high-level nodes comprises one or more connection nodes corresponding to a periphery of the area of the warehouse, one or more roadmap nodes corresponding to the inside of the area of the warehouse, and one or more local paths that link the connection nodes, the roadmap nodes, or a combination thereof of a given area; construct, offline, a solution set of roadmap graphs from the multi-level graph, wherein each of the roadmap graphs comprises a start position within one of the high-level nodes linked via a final path to a goal position within another of the high-level nodes, and wherein the final path comprises a selection of the local paths of the high-level nodes; evaluate each of the roadmap graphs against a heuristic, wherein the heuristic is used to select the final path of its associated roadmap graph; select, online, a coordinated path plan for the automated vehicles from the solution set of roadmap graphs, wherein the coordinated path plan is selected based upon the heuristic; and communicate at least a portion of the coordinated path plan to each of the automated vehicles, wherein the navigation module of each of the automated vehicles controls the steering component, the motion component, or both according to the received portion of the coordinated path plan. a plurality of automated vehicles located within the warehouse, each of the automated vehicles comprising a navigation module in communication with a steering component and/or a motion component; and a computing device comprising one or more central processing units in communication with each of the automated vehicles through a network; characterized in that the one or more central processing units execute instructions to: access a multi-level graph comprising high-level nodes corresponding to an area of the warehouse, wherein each of the high-level nodes comprises one or more connection nodes corresponding to a periphery of the area of the warehouse, one or more roadmap nodes corresponding to the inside of the area of the warehouse, and one or more local paths that link the connection nodes, the roadmap nodes, or a combination thereof of a given area; construct, offline, a solution set of roadmap graphs from the multi-level graph, wherein each of the roadmap graphs comprises a start position within one of the high-level nodes linked via a final path to a goal position within another of the high-level nodes, and wherein the final path comprises a selection of the local paths of the high-level nodes; evaluate each of the roadmap graphs against a heuristic, wherein the heuristic is used to select the final path of its associated roadmap graph; select, online, a coordinated path plan for the automated vehicles from the solution set of roadmap graphs, wherein the coordinated path plan is selected based upon the heuristic; and communicate at least a portion of the coordinated path plan to each of the automated vehicles, wherein the navigation module of each of the automated vehicles controls the steering component, the motion component, or both according to the received portion of the coordinated path plan. access a multi-level graph comprising high-level nodes corresponding to an area of the warehouse, wherein each of the high-level nodes comprises one or more connection nodes corresponding to a periphery of the area of the warehouse, one or more roadmap nodes corresponding to the inside of the area of the warehouse, and one or more local paths that link the connection nodes, the roadmap nodes, or a combination thereof of a given area; construct, offline, a solution set of roadmap graphs from the multi-level graph, wherein each of the roadmap graphs comprises a start position within one of the high-level nodes linked via a final path to a goal position within another of the high-level nodes, and wherein the final path comprises a selection of the local paths of the high-level nodes; evaluate each of the roadmap graphs against a heuristic, wherein the heuristic is used to select the final path of its associated roadmap graph; select, online, a coordinated path plan for the automated vehicles from the solution set of roadmap graphs, wherein the coordinated path plan is selected based upon the heuristic; and communicate at least a portion of the coordinated path plan to each of the automated vehicles, wherein the navigation module of each of the automated vehicles controls the steering component, the motion component, or both according to the received portion of the coordinated path plan.