A method for coordinating path planning for one or more automated vehicles is described, including receiving an executable task for an automated vehicle, providing a multi-level graph comprising high-level nodes, connection nodes, roadmap nodes, and one or more local paths, constructing a grid corresponding with the multi-level graph, selecting grid squares corresponding to a start position, a goal position, or both if they are off the multi-level graph, determining joining paths from the start position, goal position, or both to the multi-level graph, constructing a solution set of roadmap graphs from the multi-level graph, selecting a coordinate path plan, communicating at least a portion of the coordinate path plan to each automated vehicle, and controlling the automated vehicle in accordance with the coordinate path plan.