Constructive controllability algorithms for motion planning and optimization

@article{Cerven2003ConstructiveCA,
  title={Constructive controllability algorithms for motion planning and optimization},
  author={W. Todd Cerven and Francesco Bullo},
  journal={IEEE Trans. Automat. Contr.},
  year={2003},
  volume={48},
  pages={575-589}
}
This paper presents novel algorithms for planning feasible and minimum energy paths. The algorithms rely on series expansions to characterize planning problems for polynomial control systems. The resulting inversion problem is solved through an iterative contraction or a power series inversion. While the design methodology is general, our focus is on a… CONTINUE READING