  The use of a feedback motion plan instead of the decoupled scheme consisting
of separate plan and control phases can facilitate the task of proving the
properties of an autonomous system. The advantage of using a feedback motion
plan is the possibility to validate the whole plan offline before its
execution, which means that trajectories having different initial states can be
tested simultaneously. In this paper, we formulate a feedback motion plan based
on the extension of the \emph{wavefront expansion} to the case of vehicles
having bounded curvature. Additionally, the use of a transition function and a
Gaussian filter limits undesired oscillations in the resultant trajectories.
The method is suitable for both single goal missions and path following. The
paper illustrates the algorithm for the generation of the plan and presents
simulation data containing example trajectories and analysis of tuning
parameters. Finally, future developments are discussed.
