Validated Trajectory Tracking using Flatness

Keywords: trajectory tracking, differential flatness, validated computation


The problem of a safe trajectory tracking is addressed in this paper. It consists in using the results of a validated path planner providing a set of safe trajectories to produce the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. This computation is performed using the differential flatness of many dynamical systems. The method is illustrated in the case of the Dubins car.


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How to Cite
Mullier, O., & Alexandre dit Sandretto, J. (2021). Validated Trajectory Tracking using Flatness. Acta Cybernetica, 25(1), 85-99.