I am trying to write a super-simple jerk-limited motion planner for a very simple application. Looking for equations of motion I found: http://sprott.physics.wisc.edu/pubs/paper229.pdf Which seems to suggest a risk of chaotic motion once the equations become third-order. However, I think the chaos in my motion planner at the moment comes from less esoteric sources, such as me over-simplifying.
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