A system for additive manufacturing includes a mobile implement system (12) with a nozzle (17), an implement system pose sensor (36), and a controller (31). The controller determines a plurality of potential poses and a plurality of potential paths of the nozzle. A desired pose and a desired path are selected and a sequence and rate of operation of the mobile implement system is determined to permit the nozzle (17) to deposit sequential layers of material to form a desired structure (110). After moving the mobile implement system towards the desired pose, a modified sequence and rate of operation of the mobile implement system is determined that will cause the nozzle to follow the desired path even if the mobile implement system is not at the desired pose while depositing the sequential layers of material along the desired path to form the structure.