Abstract: Methods and systems for performing flocking while executing a fleet plan are provided. An example method includes receiving a sequence of coverage requirements for a region and an associated period of time, and determining a respective sequence of intended destinations for each of one or more vehicles of a fleet of vehicles to travel to over the period of time. Additionally, based on a determined sequence of intended destinations for a vehicle of the one or more vehicles and based on a desired spatial relationship between the vehicle and one or more neighboring vehicles for a given time period, a flocking-based direction of travel for the vehicle may be determined for the given time period.

Abstract: Methods and systems for determining trajectories for vehicles of a fleet of vehicles are provided. In one example, a method comprises receiving an initial location of one or more vehicles, and receiving a sequence of coverage requirements for a region and an associated period of time. The region may be divided into a plurality of landmarks and the period of time may be divided into a plurality of phases. The method also comprises determining for each of one or more phases and at least one respective landmark, a set of starting landmarks from which a vehicle could reach the respective landmark during the phase. The method further comprises determining which respective landmark that the vehicle should travel to during the one or more phases based on the sequence of coverage requirements and the set of starting landmarks for the one or more phases and the at least one respective landmark.