InPlaLabs Key Concepts for Integrated Planning Discourse
This section presents a curated set of key concepts that shape contemporary debates on integrated spatial planning, urban governance, sustainability, and participatory urban development.
The concepts presented here were developed within the InPlaLabs Network as part of the project’s effort to systematise knowledge across disciplines, planning practices, and policy domains.
Each concept page provides:
- A mainstream definition used in planning discourse
- Key debates and contested interpretations in the literature
- Examples of applications in planning practice
- Selected references for further reading
The goal of this resource is to support students, researchers, practitioners, and policymakers engaging with integrated spatial planning.
The publication InPlaLabs Key Concepts for Integrated Planning Discourse is available here: https://helios.ntua.gr/pluginfile.php/326983/mod_folder/content/0/Key%20concepts%20for%20integrated%20planning%20discourse.pdf
Key Concepts
- Integrated Spatial Planning
- Urban Sustainability
- Justice and the City: Spatial, Climate, and Mobility Justice
- Transport Equity
- Accessibility and the 15-minute city
- Data-driven planning
- Inclusive Planning
- Co-creation in Urban Planning
- Urban Health
- Green Digital Skills
Integrated Spatial Planning
Authors: Yannis Paraskevopoulos, Anastasia Christaki, Stefanos Tsigdinos, Ioannis Chatziioannou
Integrated spatial planning refers to a systemic approach to planning that coordinates land-use, mobility, environmental, social and economic policies in order to guide the sustainable development of cities and regions. The concept has become central to contemporary debates on urban governance, sustainability transitions and interdisciplinary planning practice.
Mainstream / Conventional Definition
In mainstream academic and policy discourse, integrated spatial planning is understood as a systemic, multi-scalar and multi-sectoral approach that coordinates land-use, mobility, environmental, social and economic policies to guide the sustainable development of cities and regions.
It emerged as an institutional paradigm within European and global planning frameworks, positioning integration as a tool for achieving coherence across fragmented governance systems and policy domains. In this view, integration operates through:
- Horizontal coordination across policy sectors
- Vertical alignment across governance levels
- Territorial cooperation across administrative boundaries
Together, these dimensions create a unified strategic direction for spatial development.
This conventional perspective frames integrated spatial planning as a largely technocratic and evidence-based practice, in which data, modelling and interdisciplinary urban science support more rational and efficient decision-making. Participatory procedures are often included primarily as a means of improving legitimacy and stakeholder acceptance rather than fundamentally reshaping power relations.
Overall, the mainstream definition presents integrated spatial planning as a coordinated, holistic and efficiency-oriented governance mechanism designed to deliver sustainability, resilience and the common good through coherent spatial strategies.
Contested Meanings / Debates in the Literature
Debates around integrated spatial planning revolve around deep tensions concerning governance, knowledge, justice and the purpose of planning.
A key debate concerns whether integration should be understood as a managerial practice of policy coordination or as a transformative governance framework oriented toward justice and empowerment. Mainstream institutional approaches frame integration as technical coordination across sectors, jurisdictions and scales, emphasising coherence and efficiency. Critical scholars challenge this perspective, arguing that such conceptions depoliticise integration by masking unequal power relations and overlooking the social and ethical dimensions of planning.
Instead, alternative perspectives advocate relational and justice-oriented interpretations, where integration becomes a vehicle for redistributing power and addressing structural inequalities in urban systems.
A second axis of debate focuses on knowledge, participation and epistemic authority. Conventional integrated planning relies strongly on expert-led and technocratic knowledge practices, privileging quantitative metrics and scientific rationality. Critics argue that this model marginalises everyday experience, situated knowledge and the epistemic contributions of communities.
Scholars working within participatory and collaborative planning traditions therefore emphasise that integration must also operate as an epistemic practice, bringing different ways of knowing into negotiation through co-production rather than tokenistic consultation. Concepts such as in-between spaces highlight the importance of shared problem-framing and iterative knowledge building between planners and communities.
A third major debate concerns spatial justice. While mainstream frameworks often assume that equity will emerge as a by-product of efficient coordination and service provision, critical scholars insist that justice must be explicitly designed, measured and institutionalised within integrated planning systems.
Research on participatory mapping, multi-criteria analysis and equity indicators demonstrates how integration can be redirected toward:
- distributive justice
- procedural justice
- recognitional justice
From this perspective, integration without justice risks reinforcing existing inequalities rather than transforming them.
Global and cultural contexts add further layers of contestation. European and international institutions often promote integration as a universal governance model, yet scholarship from postcolonial, Global South and postmigrant contexts challenges this assumption. In many Southern cities, integration involves negotiating between formal and informal systems, addressing long-standing exclusions and dealing with socio-spatial fragmentation shaped by historical and colonial legacies.
Finally, a growing debate concerns 'transformative and post-growth interpretations of integrated spatial planning. While mainstream approaches remain closely linked to growth-oriented urban development, post-growth scholars argue that integration should instead align with ecological limits, sufficiency and socio-ecological transformation.
Concepts such as urban degrowth, prefigurative planning and habitability therefore challenge the assumption that integrated planning should primarily optimise growth-oriented systems.
Selected References & Key Readings
- Creutzig, F. et al. (2024) Towards a public policy of cities and human settlements in the 21st century. https://doi.org/10.1038/s42949-024-00168-7
→ Proposes a transdisciplinary framework aligning climate action, public health, well-being and digitalisation within integrated urban governance.
- Acuto, M., Parnell, S. & Seto, K.C. (2018) Building a global urban science. https://doi.org/10.1038/s41893-017-0013-9
→ Argues for a genuinely global and interdisciplinary urban science capable of connecting research, data and planning practice.
- New Leipzig Charter (2020) The transformative power of cities for the common good.
https://ec.europa.eu/regional_policy/en/information/publications/brochures/2020/new-leipzig-charter-the-transformative-power-of-cities-for-the-common-good → Foundational EU policy framework promoting integrated urban development, multi-level governance and place-based planning.
- Davoudi, S. (2023) Prefigurative planning: performing concrete utopias in the here and now. https://doi.org/10.1080/09654313.2023.2217853
→ Develops the concept of prefigurative planning as a practice that enables justice-oriented urban futures.
- Kaika, M. et al. (2023) Urbanizing degrowth. https://doi.org/10.1177/00420980231162234
→ Proposes a radical spatial degrowth agenda for planning in the context of climate emergency and socio-environmental justice.
Urban Sustainability
Authors: Nadia Charalambous, Mariam Shulqamy, Frixos Petrou, Rafaela Christodoulou
Urban sustainability refers to the ability of cities to balance economic development, social equity, and environmental protection in ways that meet present needs without compromising the capacity of future generations to thrive. The concept emphasises compact and resource-efficient urban forms, resilient infrastructures, inclusive governance, and reduced ecological footprints.
Mainstream / Conventional Definition
In mainstream planning and policy discourse, urban sustainability is commonly framed around the triple bottom line of environmental protection, social equity, and economic development.
This perspective emphasises the need for cities to promote:
- resource-efficient urban forms
- resilient infrastructure systems
- inclusive governance mechanisms
- reduced ecological footprints
Within this framework, urban sustainability seeks to balance environmental stewardship with economic vitality and social well-being. It is closely connected to global policy agendas such as the UN Sustainable Development Goals, particularly SDG 11: Sustainable Cities and Communities.
In practice, urban sustainability promotes urban development approaches that reduce environmental impacts, enhance social inclusivity, and support economic resilience. The concept therefore focuses on creating cities that are liveable, resilient and regenerative.
Contested Meanings / Debates in the Literature
Despite its prominence in global policy discourse, urban sustainability remains a contested and evolving concept.
On one hand, it provides a unifying vision that mobilizes governments, international organisations and civil society around shared sustainability goals. On the other hand, critics argue that the term sustainability is often used as a broad and ambiguous slogan that obscures trade-offs, competing priorities and entrenched power dynamics.
One central debate concerns whether sustainability initiatives genuinely transform urban systems or instead reproduce existing inequalities. For example, while compact city models are often promoted as a way to reduce urban sprawl and carbon emissions, critics highlight the risks of:
- gentrification
- displacement
- socio-spatial exclusion
Similarly, frameworks such as eco-cities and smart cities have been criticised for privileging technological and market-driven solutions while sidelining social justice concerns.
Another important debate concerns the scalar nature of sustainability. Cities do not operate in isolation but depend on global flows of energy, materials and food. Research on urban metabolism highlights how cities frequently externalize environmental costs to other regions, raising questions about whether truly sustainable cities can exist without addressing global inequalities in resource consumption.
From a postcolonial perspective, scholars also argue that dominant sustainability models often originate from Global North contexts and may be poorly suited to Global South realities. Grassroots and insurgent movements therefore advocate sustainability approaches grounded in local ecologies, community practices and indigenous knowledge systems.
Ultimately, the concept of urban sustainability embodies a tension between normative aspirations—such as resilience, equity and ecological balance—and the political and institutional realities of urban governance. The core questions raised in the literature are therefore: sustainability for whom, by whom, and at what scale?
Applications in Practice
Urban sustainability manifests across a wide range of planning policies and urban interventions:
- Urban form and mobility
→ Compact city policies, transit-oriented development and walkable neighbourhoods designed to reduce car dependency and carbon emissions.
- Green infrastructure and climate adaptation
→ Parks, green roofs, wetlands and nature-based solutions used to mitigate heat islands, manage stormwater and enhance urban biodiversity.
- Energy and resource systems
→ Renewable energy investments, circular economy initiatives and sustainable building practices such as passive design and adaptive reuse.
- Governance and participation
→ Integrated sustainability strategies such as Local Agenda 21 initiatives, SDG-based municipal plans, participatory budgeting and climate assemblies.
- Social equity initiatives
→ Affordable housing policies, equitable access to green space and health-oriented urban design that connects sustainability with well-being.
Globally recognised examples include Copenhagen’s carbon neutrality strategy, Medellín’s cable-car system connecting peripheral neighbourhoods, and Singapore’s water-sensitive urban design. These illustrate how sustainability principles are implemented at different scales while integrating environmental, social and economic considerations.
Selected References & Key Readings
- Beatley, T. (2012). Green Urbanism: Learning from European Cities. Island Press.
→ Explores sustainability practices in European cities and their implications for urban planning.
- Dempsey, N., Bramley, G., Power, S., & Brown, C. (2011). The social dimension of sustainable development. Sustainable Development, 19(5), 289–300.
→ Examines the social aspects of sustainability and the role of equity in urban development.
- Kennedy, C., Pincetl, S., & Bunje, P. (2011). The study of urban metabolism and its applications to urban planning and design. Environmental Pollution, 159(8–9), 1965–1973.
→ Introduces urban metabolism as a framework for analysing resource flows in cities.
- Parnell, S., & Robinson, J. (2012). (Re)theorizing cities from the Global South. Urban Geography, 33(4), 593–617.
→ Critically examines Global North biases in urban theory and planning practice.
- While, A., Jonas, A. E. G., & Gibbs, D. (2004). The environment and the entrepreneurial city. International Journal of Urban and Regional Research, 28(3), 549–569.
→ Critiques sustainability policies within entrepreneurial urban governance frameworks.
Justice and the City: Spatial, Climate and Mobility Justice
Authors: Stefanos Tsigdinos, Yannis Paraskevopoulos, Anastasia Christaki, Ioannis Chatziioannou
Justice in the city refers to a set of perspectives that examine how spatial organisation, environmental change and mobility systems distribute opportunities, resources and risks across different social groups. The concept brings together debates on spatial justice, transport justice and climate justice, emphasising the ethical and political dimensions of planning and urban governance.
Mainstream / Conventional Definition
Justice is a broad concept addressed across multiple disciplines, including philosophy, political theory, geography and planning. When applied to urban and spatial issues, it highlights the ways in which social inequalities become embedded in space, infrastructures and environmental conditions.
The concept of spatial justice is increasingly recognised as a key framework for understanding and addressing inequalities in cities. However, scholars note that there is no universally agreed definition of spatial justice. Instead, the term often functions as a compressed expression describing the spatial dimensions of social justice, including unequal access to housing, services, public space and environmental quality.
Transport justice focuses on fairness within mobility systems. Rather than prioritising conventional performance indicators such as speed or network efficiency, this perspective argues that transportation policies should ensure that all individuals can access essential opportunities—such as employment, education and services—through adequate and equitable mobility options.
Climate justice addresses the ethical dimensions of climate change and environmental policies. It emphasises that industrialised countries bear a historical responsibility for greenhouse gas emissions, while many vulnerable communities experience the most severe impacts of climate change despite contributing the least to the problem. Climate justice therefore calls for redistributive and participatory approaches to climate governance, ensuring that vulnerable groups have access to resources, representation and decision-making processes.
Together, these perspectives highlight that justice within cities cannot be separated from spatial planning decisions, environmental policies and mobility infrastructures.
Contested Meanings / Debates in the Literature
The concept of justice in urban contexts often carries a critical and transformative orientation. Many scholars argue that spatial, climate and transport justice frameworks challenge existing planning paradigms by exposing systemic inequalities embedded in urban development patterns.
Research on justice has gained particular prominence in discussions concerning the Global South, where access to basic services, environmental quality and urban infrastructure remains highly uneven. Scholars emphasise that justice-oriented planning must address structural inequalities related to land, resources, infrastructure and political representation.
At the same time, debates highlight the importance of integrated approaches capable of addressing the interconnections between environmental protection, spatial organisation and social inclusion. Justice frameworks therefore encourage planners and policymakers to rethink conventional development models and to prioritise equitable outcomes.
A key challenge identified in the literature concerns the persistent gap between the normative goals of justice-oriented planning and the institutional realities of governance. Many planning systems struggle to incorporate meaningful participation, environmental protection and social inclusion simultaneously.
As a result, justice-oriented perspectives advocate for planning practices that actively address systemic exclusion, empower communities and promote equitable access to urban opportunities.
Applications in Practice
Justice-oriented frameworks can inform a wide range of planning and policy practices:
- Inclusive planning processes
→ Justice frameworks can help recognise diverse actors and stakeholders within planning processes, ensuring that marginalized groups are meaningfully represented.
- Evaluation of planning projects
→ Spatial and transport justice principles can guide the assessment of projects and policies across multiple scales, from neighbourhood initiatives to large infrastructure investments.
- Strategic planning and policy design
→ Planning strategies can incorporate justice indicators to evaluate how policies affect accessibility, environmental exposure and social inclusion.
- Community-based planning
→ Local communities can use justice frameworks to articulate their needs and priorities, while municipalities can integrate justice-based metrics into planning policies and urban development strategies.
Selected References & Key Readings
- Moroni, S., & De Franco, A. (2024). Spatial justice: A fundamental or derivative notion? City, Culture and Society, 38, 100593.
→ Explores the conceptual foundations and theoretical debates surrounding spatial justice.
- Brown, K., Flemsæter, F., & Rønningen, K. (2019). More-than-human geographies of property: Moving towards spatial justice with response-ability. Geoforum, 99, 54–62.
→ Examines spatial justice through relational approaches to land, property and environmental governance.
- Martens, K. (2017). Transport Justice: Designing fair transportation systems. Routledge.
→ Develops a normative framework for designing equitable transport systems focused on accessibility and fairness.
- Adamczak-Retecka, M. (2014). Climate Justice: Feasible and Desirable? In Enacting Environmental Justice through Global Citizenship.
→ Discusses ethical and political dimensions of climate justice in global governance.
- Martinez Fernandez, T., Mejia, M., Arcia, R., & Sanchez-Lara, P. (2023). Climate Justice in the Barrios. Journal of the National Hispanic Medical Association, 1(2), 50–57.
→ Examines climate vulnerability and environmental justice within marginalised communities.
- Soja, E. (2010). Seeking Spatial Justice. University of Minnesota Press.
→ A foundational work linking urban geography, planning and social justice.
Transport Equity
Authors: Stefanos Tsigdinos, Yannis Paraskevopoulos, Anastasia Christaki, Ioannis Chatziioannou
Transport equity refers to the fairness of transport systems in distributing mobility opportunities, accessibility, and benefits across different social groups. The concept emphasises that transport planning should ensure that all individuals can access essential activities—such as employment, education, healthcare, and services—through adequate and equitable mobility options.
Mainstream / Conventional Definition
There is no universally accepted definition of transport equity, as the concept refers both to the fair distribution of transport benefits and to the evaluation of fairness in transport policies and interventions.
Martens (2016) defines transport equity as the minimum level of access to certain key activities that should be guaranteed for every individual. From this perspective, transport planning should prioritise accessibility to essential opportunities rather than focusing exclusively on system performance indicators such as speed or network efficiency.
Transport equity is often distinguished into two dimensions:
- Horizontal equity
→ Equal access to opportunities for all individuals regardless of socio-economic status.
- Vertical equity
→ Prioritised access and targeted measures for disadvantaged social groups, recognising different needs and vulnerabilities.
Closely linked to transport equity is the concept of mobility poverty, which describes situations where individuals or communities experience limited mobility due to spatial conditions, infrastructure gaps or socio-economic barriers. Mobility poverty highlights how spatial structures and infrastructure networks shape unequal access to opportunities and can contribute to social exclusion.
Contested Meanings / Debates in the Literature
Although transport equity is widely discussed in planning research, its interpretation varies significantly across theoretical and normative frameworks.
Scholars analyse transport equity through several philosophical approaches, including:
- Utilitarianism
→ Focuses on maximising the overall benefits produced by transport systems.
- Libertarianism
→ Emphasises individual freedoms and market-based allocation of mobility services.
- Egalitarianism
→ Prioritises equal distribution of opportunities and resources across society.
- Sufficientarianism
→ Advocates ensuring a minimum threshold of accessibility for all individuals.
- Capability approaches
→ Focus on enabling individuals to achieve essential life opportunities through adequate mobility.
These perspectives reflect different political priorities and policy visions regarding how mobility systems should be organised. Consequently, debates on transport equity often revolve around which principles should guide decision-making and how equity should be operationalised in planning practice.
In many cases, local contexts shape the interpretation of equity principles. For example, research in Latin American cities frequently employs egalitarian or sufficientarian approaches when assessing transport accessibility and urban inequalities.
Applications in Practice
Transport equity frameworks can inform a variety of planning tools and policy practices:
- Evaluation of transport projects
→ Equity indicators can be used to assess the social impacts of transport infrastructure and mobility policies.
- Identification of social exclusion patterns
→ Transport equity can serve as a proxy for identifying spatial inequalities and mobility-related exclusion.
- Assessment of mobility poverty
→ Mobility poverty metrics can help identify communities facing mobility constraints, particularly in suburban, peripheral or rural areas.
These approaches support planning strategies that prioritise accessibility, fairness and inclusion within transport systems.
Selected References & Key Readings
- Kuttler, T. (2020). The spatial dimension of mobility. In Rethinking Mobility Poverty: Understanding Users’ Geographies, Backgrounds and Aptitudes. Routledge.
→ Explores how spatial structures shape mobility opportunities and contribute to mobility poverty.
- Pereira, R. H. M., Schwanen, T., & Banister, D. (2016). Distributive justice and equity in transportation. Transport Reviews, 37(2), 170–191.
→ Examines theoretical frameworks for analysing fairness and justice within transport systems.
- Pereira, R. H. M., & Karner, A. (2020). Transportation Equity. In International Encyclopedia of Transportation. Elsevier.
→ Provides an overview of equity concepts and analytical approaches in transport planning.
- Martens, K. (2016). Transport Justice: Designing fair transportation systems. Routledge.
→ Develops a normative framework for designing equitable transport systems based on accessibility principles.
- Guzman, L. A., Oviedo, D., & Rivera, C. (2017). Assessing equity in transport accessibility to work and study: The Bogotá region. Journal of Transport Geography, 58, 236–246.
→ Empirical study examining transport accessibility inequalities in a metropolitan context.
Accessibility and the 15-minute city
Authors: Yannis Paraskevopoulos, Anastasia Christaki, Stefanos Tsigdinos, Ioannis Chatziioannou
Accessibility refers to the ability of people to reach essential opportunities—such as employment, education, healthcare, services, and leisure—within reasonable time and effort. In contemporary planning debates, accessibility is increasingly discussed through the framework of the 15-minute city, a proximity-based urban model that prioritises neighbourhood-scale access to everyday needs.
Mainstream / Conventional Definition
In mainstream planning discourse, the 15-minute city is defined as an urban model in which residents can access all basic everyday needs within approximately fifteen minutes by walking or cycling. The concept, originally articulated by Carlos Moreno, frames the city as an urban environment where residents can reach essential services without relying heavily on private car travel.
Within this framework, accessibility is primarily understood as proximity-based accessibility, meaning that essential urban functions—such as living, working, education, healthcare, commerce, and leisure—are located close to residents’ homes.
The concept operationalises accessibility through four widely recognised planning principles:
- Proximity
→ Essential services and daily activities are located within short travel distances.
- Diversity
→ Neighbourhoods support mixed land uses and a diversity of social groups and functions.
- Density
→ Adequate population density supports local services, public transport, and vibrant urban life.
- Ubiquity
→ Essential services and opportunities are equitably distributed throughout the entire city.
Cities such as Paris and Edinburgh have implemented accessibility analysis to define neighbourhood service areas, measuring residents’ ability to reach facilities—such as schools, parks, supermarkets, and healthcare services—within defined travel-time thresholds.
In this sense, the 15-minute city reframes accessibility not simply as transport provision but as the spatial organisation and co-location of everyday services within neighbourhood environments.
Contested Meanings / Debates in the Literature
Despite its popularity in policy discourse, the 15-minute city has generated significant debate among researchers and practitioners.
One major critique concerns the risk that proximity-based improvements may contribute to urban commodification and gentrification. Accessibility upgrades can attract investment and increase property values, potentially leading to displacement, touristification, or socio-spatial homogenisation if housing affordability protections are not implemented.
A second line of critique highlights the prevalence of top-down, expert-led planning approaches. Many implementations rely heavily on technical accessibility models and predefined indicators, while local communities may have limited participation in defining priorities and solutions. Critics argue that meaningful co-production and local knowledge are essential for ensuring legitimacy and effectiveness.
Another debate concerns the assumption that proximity alone guarantees equitable accessibility. Structural barriers—such as limited public transport, income constraints, or physical mobility limitations—can prevent certain groups from fully benefiting from proximity-based planning interventions.
Finally, some scholars argue that the 15-minute city may oversimplify the complexity of urban systems. By focusing primarily on neighbourhood-scale access, the model risks underestimating the importance of metropolitan-scale mobility networks and the interconnected nature of urban economies and social life.
Applications in Practice
Proximity-based accessibility strategies are implemented through a variety of planning interventions:
- Street reallocation and traffic calming
→ Cities redesign streets to prioritise walking and public space through pedestrianisation, traffic calming measures, and the conversion of road space into green or social areas (e.g. Barcelona, Paris, Pontevedra, Milan).
- Expansion of cycling networks
→ Cycling infrastructure extends neighbourhood accessibility beyond walking distance, enabling efficient short-distance travel through protected and connected bike networks (e.g. Paris, Portland, Hamburg, Oslo).
- Embedding services within neighbourhoods
→ Land-use planning encourages mixed-use development and decentralised service provision so that essential amenities—such as food, education, healthcare, and recreation—are accessible within short travel times (e.g. Sydney, Eugene, Oslo, Melbourne).
- Participatory neighbourhood planning
→ Local workshops, walkability audits, tactical urbanism projects, and pilot neighbourhoods involve residents in shaping accessibility improvements (e.g. Melbourne, Paris, Edinburgh).
- Accessibility monitoring and spatial metrics
→ Cities use accessibility indices and service coverage metrics to identify underserved areas and guide equitable infrastructure investment (e.g. Portland, Edinburgh, Ottawa).
Selected References & Key Readings
- Moreno, C., Allam, Z., Chabaud, D., Gall, C., & Pratlong, F. (2021). Introducing the 15-Minute City: Sustainability, Resilience and Place Identity in Future Post-Pandemic Cities.
https://www.mdpi.com/2624-6511/4/1/6
→ Introduces the 15-minute city as a proximity-based urban model linking accessibility to sustainability, resilience and place identity.
- Büttner, B., Seisenberger, S., Baquero Larriva, M., Rivas de Gante, A., Ramírez, A., & Haxhija, S. (2022). Urban Mobility Next: 9 ± 15-Minute City – Human-centred planning in action.
→ Provides a practice-oriented overview of accessibility-based planning and case studies implementing proximity strategies.
- Marquet, O., Anguelovski, I., Nello-Deakin, S., & Honey-Rosés, J. (2025). Decoding the 15-Minute City Debate.
https://www.tandfonline.com/doi/full/10.1080/01944363.2024.2346596
→ Examines public debates and critiques surrounding the 15-minute city concept.
- Silva, C., Büttner, B., Seisenberger, S., & Rauli, A. (2023). Proximity-centred accessibility.
https://www.sciencedirect.com/science/article/pii/S266709172300016X
→ Develops a conceptual framework linking proximity-based planning with accessibility analysis.