Research paper
FaSTrack · Bounding the gap between planning and tracking
FaSTrack pairs a simplified fast planner with a safety controller and a tracking-error bound accounting for richer dynamics and disturbances. The study demonstrates a ten-dimensional nonlinear quadrotor model following a three-dimensional RRT path.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- FaSTrack: A modular framework for fast and guaranteed safe motion planning
- Publisher
- IEEE
- Authors
- Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin
- DOI
- 10.1109/cdc.2017.8263867
- Publication date
- 2017-12
- Source language
- en
- Edition
- 2017 IEEE 56th Annual Conference on Decision and Control (CDC); 2017; DOI 10.1109/cdc.2017.8263867
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
FaSTrack pairs a simplified fast planner with a safety controller and a tracking-error bound accounting for richer dynamics and disturbances. The study demonstrates a ten-dimensional nonlinear quadrotor model following a three-dimensional RRT path.
Use and review
Checked publication metadata and the matching conference-paper abstract. Bounds depend on planning/tracking models and disturbance limits; results must be distinguished from the separate 2021 extension.
Sources & editions
FaSTrack: A modular framework for fast and guaranteed safe motion planning ↗
IEEE · 2017 IEEE 56th Annual Conference on Decision and Control (CDC); 2017; DOI 10.1109/cdc.2017.8263867
CDC 2017 publication; matching author archive https://arxiv.org/abs/1703.07373v2 links DOI 10.1109/CDC.2017.8263867.