A computer-implemented method for moving a first mobile object at a traffic node includes determining a state of the first mobile object including a position, a velocity, or an acceleration of the first mobile object, and receiving a trajectory of a state of a second mobile object at the traffic node. The method further includes determining a constraint for the state of the first mobile object based on the received trajectory of the state of the second mobile object, and determining a trajectory of the state of the first mobile object based on the state of the first mobile object using a model configured to predict the trajectory of the state of the first mobile object based on (i) a trajectory of a driving signal for moving the first mobile object, and (ii) the state of the first mobile object.