An introduction to motion planning under multirate digital control

The authors propose digital control methods for steering real analytic controllable systems between arbitrary state configurations. The main idea is to achieve a multirate sampled procedure to perform motions in all the directions of controllability under piecewise constant controls. When it is applied to non-holonomic control systems without drift, the procedure simplifies. In particular, it results in exact steering on chained systems recently introduced in the motion planning literature. A classical example is reported