Real-time trajectory generation using blend functions

A techniques for transitioning between path segments that is tolerant to dynamic changes arising from sensor inputs is described. The main idea is to blend the segments together in a way that does not require advance knowledge of the paths. It is also possible to decompose the transition into an action which brings to rest the motion along the final path. By adjusting the timing of these two components, one may control the shape of the transition, in both time and space, so as to satisfy different task constraints