1. A system for surface vehicle trajectory description comprising: a plurality of surface vehicles, each of the surface vehicles equipped with an electronic control unit comprising a receiver, actuators for controlling the surface vehicle, and a decoder for instructions received from a surface vehicle movement optimizer; a plurality of events to be performed by each of the surface vehicles; and a constraints module containing at least one of a maximum longitudinal acceleration or a maximum lateral acceleration for each of the surface vehicles, wherein the plurality of events is based at least partially on the constraints module, wherein the plurality of events comprise instructions of movements from an origin to a destination, and actions for each of the surface vehicles, wherein the instructions further comprise information concerning the duration and location of the actions for each of the surface vehicles and wherein the actions comprise actions that differ from the instructions of movements from the origin to the destination, wherein the decoder decodes instructions received from the surface vehicle movement optimizer, wherein the surface vehicle movement optimizer configures an optimized schedule of a preliminary plan to meet at least one optimization target by modifying the events based on vehicle attributes or updates submitted by the electronic control unit from at least one of the surface vehicles to the surface vehicle movement optimizer, the optimized schedule including vehicle-specific actuator positions corresponding to the instructions of movements from the origin to the destination, the vehicle-specific actuator positions being divided into intervals between the origin and the destination, at least one interval including a throttle actuator position and a steering device actuator position.