Departmental Papers (ESE)


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 assumptions, we project the trajectory planning problem onto a φ-related control system of smaller dimension. Trajectories designed for the smaller, abstracted system are guaranteed, by construction, to be feasible for the original system. Constructive procedures are provided for refining trajectories of the coarser system to the more detailed system.

Document Type

Conference Paper

Subject Area


Date of this Version

December 2003


Copyright 2003 IEEE. Reprinted from Proceedings of the 42nd IEEE Conference on Decision and Control 2003, Volume 6, pages 6090-6095.

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Date Posted: 26 May 2005