@inproceedings{94b6db05e92f49c08b6040801d7ae23e,
title = "A global-local approach for trajectory generation on rough terrain",
abstract = "In this paper,we consider trajectory generation problem as an optimal control problem while minimizing a cost function and satisfying any boundary, terrain, path and system dynamics constraints. The optimal state and control profiles are approximated by a weighted average of independent local approximations. Specially derived weight functions are used to construct a globally continuous function. Such a method provides us a way of using local information to construct near-optimal trajectories, which is useful in the context of numerically solving nonlinear trajectory generation problems.",
author = "Chen Lin and Puneet Singla and Tarunraj Singh",
year = "2009",
doi = "10.2514/6.2009-6295",
language = "English (US)",
isbn = "9781563479786",
series = "AIAA Guidance, Navigation, and Control Conference and Exhibit",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
booktitle = "AIAA Guidance, Navigation, and Control Conference and Exhibit",
}