(588) Planning under differential constraints restricts allowed velocities at ea pt

Commonly discretizes state, action, time

(590) Instead of finding sequence of configurations (can be impossible to achieve), find a sequence of velocities (sometimes still impossible, but in practice easier)

(594) Implicit vs parametric form: implicit is more general, but parametric is more useful because it helps to find actions.

Not always possible to find parametric rep

Pfaffian constraints assume constraints on velocities are some linear combination of functions on ea action component

(596) Lots of example models for domains

(607) Higher order constraints can be made, such as acceleration instead of velocities (easier yet to achieve in practice)

Converting to phase space transforms a system w/high-order derivatives to one w/only 1st order derivatives

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