Abstract Systems and methods are disclosed for vehicle motion planning where a sensor,
such as a ladar system, is used to detect threatening or anomalous conditions within the
sensor's field of view so that priority warning data about such conditions can be inserted at
low latency into the motion planning loop of a motion planning computer system for the
vehicle. The ladar system can perform compressive sensing to target the field of view with a
plurality of ladar pulses.

G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR
VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE
OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS
ARRANGEMENTS USING OTHER WAVES