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In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse factor graphs, which -- combined with mode transition constraints -- constitute a composite pose graph. By formulating the multi-modal motion planning problem in composite pose graph form, we enable utilization of efficient techniques for optimization on sparsearXiv:2107.02384v1 fatcat:ci3byfy74naxflzzhv2qikhqn4