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Kinodynamic Motion Planning for an X4-Flyer
Abstract
This chapter describes kinodynamic motion planning and its application. Kinodynamics is the discipline that tries to solve kinematic constraints and dynamical constraints simultaneously. By using kinodynamic motion planning, control inputs can be generated in a much simpler way, compared to the conventional motion planning that solves kinematics and dynamics separately. After briefly overviewing the kinodynamic motion planning, its application to a flying robot is described in detail.
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