The invention relates to route planning and optimization. In some embodiments, the invention includes obtaining vertex data describing target attributes, including at least one target location, and process dynamics data describing system constraints of a process; defining vertex functionals, describing attribute requirements, and edge functionals, which use the system constraints to determine cost requirements, for cost objectives; and using the data, the functionals, and the cost objectives to construct a T-graph that includes a label space representing the target attributes. Next, the T-graph is solved to construct a label space trajectory by determining waypoints such that the process (1) travels through all target locations and (2) satisfies the attribute requirements, dynamically calculating travel cost by applying the cost requirements to each intervening edge, and minimizing the travel cost according to the cost objectives. The optimal space trajectory is executed to navigate the process through the target locations.
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