Szukana fraza: [Abstract = "Within the framework of the mark\-dynamic properties, we show that the HDPPN theoretic notions of \(local and global\) equilibrium and stability are those of the DPPN. As a result in the trajectory\-dynamic properties framework, we obtain equivalent characterizations of that of the DPPN for final decision points and stability. We show that the HDPPN mark\-dynamic and trajectory\-dynamic properties of equilibrium, stability and final decision points coincide under some restrictions. We propose an algorithm for optimum hierarchical trajectory planning. The hierarchical decomposition process is presented under a formal treatment and is illustrated with application examples."]

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