On the motion planning problem, complexity, entropy, and nonholonomic interpolation

DOI10.1007/S10450-006-0005-YzbMath1121.53025OpenAlexW2014373684MaRDI QIDQ867468

Jean-Paul Gauthier, Vladimir M. Zakalyukin

Publication date: 15 February 2007

Published in: Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10450-006-0005-y

zbMATH Keywords

entropyroboticsmetric complexitysub-Riemannian gometry

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Exterior differential systems (Cartan theory) (58A15) Sub-Riemannian geometry (53C17)

Related Items (13)

Entropy estimations for motion planning problems in robotics ⋮ Cut time in sub-riemannian problem on engel group ⋮ Measuring singularity of generalized minimizers for control-affine problems ⋮ Complexity of Control-Affine Motion Planning ⋮ Normal forms for sub-Lorentzian metrics supported on Engel type distributions ⋮ Metric geometry of nonregular weighted Carnot-Carathéodory spaces ⋮ Influence of nonholonomic constraints on variations, symplectic structure, and dynamics of mechanical systems ⋮ On the Hausdorff volume in sub-Riemannian geometry ⋮ Hausdorff volume in non equiregular sub-Riemannian manifolds ⋮ On certain hyperelliptic signals that are natural controls for nonholonomic motion planning ⋮ High-order sufficient conditions for configuration tracking of affine connection control systems ⋮ Approximation of Generalized Minimizers and Regularization of Optimal Control Problems ⋮ Generalized solutions for singular optimal control problems

Cites Work

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• On the one-step-Bracket-Generating motion planning problem
• Quasi-contact S-R metrics: Normal form in \(\mathbb{R}^{2n}\), wave front and caustic in \(\mathbb{R}^4\)
• Measures of transverse paths in sub-Riemannian geometry
• Small sub-Riemannian balls on \(\mathbf R^3\)
• Complexity of nonholonomic motion planning
• Optimization and nonsmooth analysis
• Entropy and complexity of a path in sub-Riemannian geometry
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• Sub-Riemannian metrics and isoperimetric problems in the contact case

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