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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

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概要 Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geomet...ry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.続きを見る
目次 1Geometry of nonholonomic systems
2First-order theory
3Nonholonomic motion planning
4 Appendix A:Composition of flows of vector fields
5Appendix B: The different systems of privileged coordinates.
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本文を見る Full text available from Springer Mathematics and Statistics eBooks 2014 English/International

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登録日 2020.06.27
更新日 2020.06.28