A system for surface vehicle trajectory description comprising: - a plurality of surface vehicles , each of the surface vehicles equipped with a transmitter and an electronic control unit comprising a receiver , a decoder and a sensor ; and - a surface vehicle movement optimizer configured to generate an optimized schedule of a preliminary plan comprising a plurality of events to be performed by each of the surface vehicles by modifying the plurality of events based on updates submitted by the electronic control unit from at least one surface vehicle to the surface vehicle movement optimizer ; wherein: - the plurality of events of the optimized schedule comprise operations to be performed by each of the surface vehicles to follow an intended trajectory from an original location to a destination, wherein the intended trajectory is divided into a plurality of intervals, wherein each interval comprises an operation including at least one coded instruction selected among a set of instructions comprising throttle commands, brake commands and steering wheel position commands; - the decoder of each surface vehicle is configured to decode the instructions received from the surface vehicle movement optimizer , so that the plurality of surface vehicles can perform the plurality of events of the optimized schedule in order to follow the intended trajectory; wherein the instructions are coded using a formal language; and wherein the sensor of each surface vehicle is configured to detect a malfunction or an unexpected situation that makes the surface vehicle unable to perform an operation according to the preliminary plan , and wherein each surface vehicle is configured to submit updates , via the transmitter , to the surface vehicle movement optimizer requiring a new optimized schedule for the plurality of surface vehicles when a malfunction or an unexpected situation has been detected by the sensor . - a plurality of surface vehicles , each of the surface vehicles equipped with a transmitter and an electronic control unit comprising a receiver , a decoder and a sensor ; and - a surface vehicle movement optimizer configured to generate an optimized schedule of a preliminary plan comprising a plurality of events to be performed by each of the surface vehicles by modifying the plurality of events based on updates submitted by the electronic control unit from at least one surface vehicle to the surface vehicle movement optimizer ; - the plurality of events of the optimized schedule comprise operations to be performed by each of the surface vehicles to follow an intended trajectory from an original location to a destination, wherein the intended trajectory is divided into a plurality of intervals, wherein each interval comprises an operation including at least one coded instruction selected among a set of instructions comprising throttle commands, brake commands and steering wheel position commands; - the decoder of each surface vehicle is configured to decode the instructions received from the surface vehicle movement optimizer , so that the plurality of surface vehicles can perform the plurality of events of the optimized schedule in order to follow the intended trajectory; <EOS>