# FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning

## TL;DR

FaSTrack is a modular framework that enables fast, safe, and guaranteed tracking of high-dimensional dynamical systems by combining simplified planning with a safety controller that accounts for tracking errors.

## Contribution

The paper introduces FaSTrack, a novel modular framework that guarantees safety and tracking accuracy for high-dimensional systems using simplified planning models.

## Key findings

- Successfully applied to a 10D quadrotor model
- Provides guaranteed tracking error bounds
- Compatible with existing path planners

## Abstract

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often requiring simplified dynamics that sacrifice safety and dynamic feasibility in order to plan efficiently. Conversely, safe trajectories can be computed using more sophisticated dynamic models, but this is typically too slow to be used for real-time planning. We propose a new algorithm FaSTrack: Fast and Safe Tracking for High Dimensional systems. A path or trajectory planner using simplified dynamics to plan quickly can be incorporated into the FaSTrack framework, which provides a safety controller for the vehicle along with a guaranteed tracking error bound. This bound captures all possible deviations due to high dimensional dynamics and external disturbances. Note that FaSTrack is modular and can be used with most current path or trajectory planners. We demonstrate this framework using a 10D nonlinear quadrotor model tracking a 3D path obtained from an RRT planner.