A system includes a first dataset of vehicle trajectories including individual vehicle tracks forming a first track density, a desired vehicle track density profile, a spatio-temporal coverage metric, and a track model including Heaviside functions encoding track time origins and durations for the individual vehicle tracks and including locations for the plurality of individual vehicle tracks. Approximations of the Heaviside functions are minimized as a function of the spatio-temporal coverage metric. The first dataset of vehicle trajectories is manipulated to satisfy the desired vehicle track density profile through minimizing an approximation of the Heaviside functions. Each individual vehicle track in the first dataset of vehicle trajectories is shifted as a result of the optimization, thereby generating a second dataset of vehicle trajectories having a second track density.