Feature/manual on follow trajectory to merge

[HansRobo]

Description

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Abstract

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Background

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Details

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References

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Destructive Changes

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Known Limitations

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[github-actions]

Checklist for reviewers ☑️

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• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
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• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
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