Using scout clusters for motion planning

Most motion planning tasks are heavily constrained with respect to many different independent and dependent variables. The classical planning algorithms for complex motions generally require a very detailed mathematical analysis that cannot include all real-world dynamic effects. This paper examines using a scout cluster architecture to plan motions based only on an estimate of the feedforward dynamic response of the system. The technology is equally well suited to both linear and nonlinear system control. The theoretical basis of the scout cluster architecture has been previously discussed by the author (1999)