On certain hyperelliptic signals that are natural controls for nonholonomic motion planning

DOI10.1007/s00498-015-0145-2zbMath1410.70017OpenAlexW2200375594MaRDI QIDQ495699

Felipe Monroy-Pérez, Jean-Paul Gauthier

Publication date: 15 September 2015

Published in: MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00498-015-0145-2

zbMATH Keywords

nonholonomic systemsmotion planningsubriemannian geometry

Mathematics Subject Classification ID

Geometric methods (93B27) Robot dynamics and control of rigid bodies (70E60) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Optimality conditions for problems involving ordinary differential equations (49K15) Sub-Riemannian geometry (53C17)

Cites Work

• Unnamed Item
• Unnamed Item
• On the motion planning of the ball with a trailer
• On the motion planning problem, complexity, entropy, and nonholonomic interpolation
• The tangent space in sub-Riemannian geometry
• On the codimension one motion planning problem
• On the one-step-Bracket-Generating motion planning problem
• Measures of transverse paths in sub-Riemannian geometry
• Control theory from the geometric viewpoint.
• Complexity of nonholonomic motion planning
• Motion Planning and Fastly Oscillating Controls
• Graded Approximations and Controllability Along a Trajectory
• Local asymptotic approximation of non-linear control systems!
• Entropy and complexity of a path in sub-Riemannian geometry
• Goursat distribution and sub-Riemannian structures
• Trajectory generation for the N-trailer problem using Goursat normal form
• Flatness and defect of non-linear systems: introductory theory and examples
• Non-holonomic control systems: from steering to stabilization with sinusoids
• Practical stabilization of driftless systems on lie groups: The transverse function approach
• Motion Planning for Kinematic Systems
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• Geometric approach to Goursat flags

This page was built for publication: On certain hyperelliptic signals that are natural controls for nonholonomic motion planning