Trajectory generation for the N-trailer problem using Goursat normal form

Shows how the machinery of exterior differential systems can be used to help solve nonholonomic motion planning problems. Since the Goursat normal form, for exterior differential systems is dual to chained form for vector fields, the authors solve the problem of steering a mobile robot with N trailers by converting the system into chained form, doing the path-planning in the chained form coordinates, and converting the path back into the original coordinates. Simulations of the N-trailer system parallel parking and backing into a loading dock are included