Concluding Remarks (Part I)
A dynamical systems approach can be used to formulate, analyze and solve robot planning problems.
The main tool used here was steering of the chained form system.
The behaviors that can be generated by this approach are low level tasks like point to point steering and trajectory following.
In order to solve more complicated tasks like obstacle avoidance and navigation, a motion description language can be used to combine simple tasks (“atoms”) to create more complex behaviors. Examples are MDL (Brockett, ‘90) and MDLe (Manikonda, Krishnaprasad, and Hendler, ‘95)