1. A system comprising: a vehicle having at least one vehicle actuation system and at least one vehicle sensor, the at least one vehicle actuation system including at least one of a steering system, a braking system, and a throttle system, and the at least one vehicle sensor including at least one of a vehicle speed sensor, a vehicle acceleration sensor, an image sensor, a Lidar sensor, a radar sensor, a stereo sensor, an ultrasonic sensor, a global positioning system, and an inertial measurement unit; a perception system that generates dynamic obstacles data based on information received from the at least one vehicle sensor, the dynamic obstacles data including at least one of a current location, a size, a current estimated trajectory, a current estimated velocity, and a current estimated acceleration/deceleration of an object; a planning system having at least one processor and at least one memory storing computer-executable instructions that, when executed by the at least one processor, configure the at least one processor to implement a global route planner module, an inference module, a motion planner module, and a trajectory follower module, wherein: the global route planner module receives an inputted destination and generates a route to the inputted destination; the inference module receives the route from the global route planner module and the dynamic obstacles data from the perception system and determines a total cost for each set of motions of a plurality of sets of motions associated with different trajectories for traveling along the received route, the total cost including at least one associated cost and an inferred cost for the associated set of motions, the inferred cost being based on a probability of the associated set of motions having an increased or decreased cost based on the dynamic obstacles data; the motion planner module receives the total cost for each set of motions of the plurality of sets of motions, selects a particular set of motions from the plurality of sets of motions based on the total cost for each set of motions, and generates a smooth trajectory for the vehicle; and the trajectory follower module controls the at least one vehicle actuation system based on the smooth trajectory.