For layered planner-tracker control with Bezier reference trajectories, the set of feasible terminal conditions is a polytope, computable from a linear inequality on Bezier control points.
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Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures
For layered planner-tracker control with Bezier reference trajectories, the set of feasible terminal conditions is a polytope, computable from a linear inequality on Bezier control points.