Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles
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Publication:686739
DOI10.1007/BF01891837zbMath0779.70003OpenAlexW2059435624MaRDI QIDQ686739
Jérôme Barraquand, Jean-Claude Latombe
Publication date: 13 October 1993
Published in: Algorithmica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/bf01891837
equality constraintspath planninginequality constraintscollision avoidancecontrollability rank condition theoremimplemented planneroptimal maneuvering
Computing methodologies and applications (68U99) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25)
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