1. A method of planning at least one path for an object in a state space from a starting position to a goal position to avoid a plurality of static and/or dynamic objects, comprising: (a) associating predetermined attributes with the plurality of static objects and/or the plurality of dynamic objects located in the state space; (b) generating a probabilistic tree in the state space including a plurality of branches extending from the starting position of the vehicle towards the goal position located in the state space; and (c) extending the plurality of branches of the probabilistic tree towards the goal position located in the state space based on at least one of a plurality of random tree extension rules and a plurality of deterministic tree extension rules until satisfying a predetermined stopping condition; and (d) evaluating at least a first branch of the plurality of branches of the probabilistic tree for determining whether the first branch of the plurality of branches of the probabilistic tree satisfies predetermined trajectory path constraints.