Hierarchical Trajectory Generation for a Class of Nonlinear Systems

@inproceedings{Pappas2003HierarchicalTG,
  title={Hierarchical Trajectory Generation for a Class of Nonlinear Systems},
  author={George J. Pappas},
  year={2003}
}
Trajectory generation and motion planning for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory generation and hierarchical motion planning. The approach is based on the recent notion of φ-related control systems. Given a control affine system satisfying certain… CONTINUE READING