# Path Planning

Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a :ref:`LTV Unicycle Controller <docs/software/advanced-controls/trajectories/ltv:LTV Unicycle Controller>` for following. This section highlights the process of characterizing your robot for system identification, trajectory following, and usage of PathWeaver. Users may also want to read the :ref:`generic trajectory following documents <docs/software/advanced-controls/trajectories/index:Trajectory Generation and Following with WPILib>` for additional information about the API and non-commandbased usage.

## Notice on Swerve Support

Swerve support in path following has a couple of limitations that teams need to be aware of:

- WPILib currently does not support swerve in simulation, please see [this](https://github.com/wpilibsuite/allwpilib/pull/3374) pull request.

- Trajectory following currently does not incorporate independent heading. Path following using the WPILib trajectory framework on swerve will be the same as a DifferentialDrive robot. Both :doc:`Choreo <choreo/index>` and [PathPlanner](https://github.com/mjansen4857/pathplanner) have swerve support.

We are sorry for the inconvenience.

.. toctree::
   :maxdepth: 2

   choreo/index