Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a layout of a utility network. In one aspect, a system includes a set of autonomous mobile data collection devices for deploying to a geographic area to collect data about the geographic area. A data processing apparatus can determine, from the data about the geographic area, physical structures located in the geographic area. The data processing apparatus can generate a three dimensional model that represents the physical structures located in the geographical area and obtain, at least from the data about the geographic area, data describing existing infrastructure on which components of the utility network can be installed. The server can generate, based on the three dimensional model and the data describing the existing infrastructure, a layout of the utility network using a trained network planning model.