# GTB: A Trajectory Bundle Graph Motion Planning Method for Nonlinear Dynamics

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/af3rzjyyolymicte9xfmeu2t2
- Original: https://arxiv.org/abs/2610.32365

## Summary

The authors propose the Graphs of Trajectory Bundles (GTB) method, which combines sampling-based motion planning, trajectory optimization, and graph search for motion planning of systems with nonlinear and even black-box dynamics. Based on a graph-of-convex-sets decomposition of the workspace, the method iteratively constructs a graph of trajectory bundles that captures the local dynamics at each vertex, then solves a shortest-path problem on the graph to obtain trajectories that satisfy the system dynamics and constraints such as collision avoidance and safety in the limit. The authors claim it can handle highly nonlinear, unstable, and even black-box dynamics with complex constraints.