Control of nonholonomic systems: from sub-Riemannian geometry to motion planning
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Carnot-Carathédeory metric spacescontrol theorymotion planningnilpotent systemsnonholonomic systemssub-rRemannian geometry
Methods of local Riemannian geometry (53B21) Sub-Riemannian geometry (53C17) Artificial intelligence for robotics (68T40) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Geometric methods (93B27) Control/observation systems in abstract spaces (93C25) Automated systems (robots, etc.) in control theory (93C85)
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Cited in
(only showing first 100 items - show all)- Quantum confinement on non-complete Riemannian manifolds
- Existence of tangent lines to Carnot-Carathéodory geodesics
- A primer on Carnot groups: homogenous groups, Carnot-Carathéodory spaces, and regularity of their isometries
- Constraint control of nonholonomic mechanical systems
- A Bonnet-Myers type theorem for quaternionic contact structures
- Tangent maps and tangent groupoid for Carnot manifolds
- Sub-Riemannian interpolation inequalities
- Intrinsic and apparent singularities in differentially flat systems, and application to global motion planning
- On the Whitney extension property for continuously differentiable horizontal curves in sub-Riemannian manifolds
- Asymptotic expansion of holonomy
- Motion planning for drift-free nonholonomic systems under a discrete levels control constraint
- Controllability and motion planning for noncatastatic nonholonomic control systems
- Controllability of a nonholonomic macroeconomic system
- Small-time asymptotics of hypoelliptic heat kernels near the diagonal, nilpotentization and related results
- A cornucopia of Carnot groups in low dimensions
- Solvable approximations of 3-dimensional almost-Riemannian structures
- Upper bound estimates of eigenvalues for Hörmander operators on non-equiregular sub-Riemannian manifolds
- Local geometric control of a certain mechanism with the growth vector \((4,7)\)
- A dynamical approach to the Sard problem in Carnot groups
- Pauls rectifiable and purely Pauls unrectifiable smooth hypersurfaces
- Non-minimality of spirals in sub-Riemannian manifolds
- On the regularity of abnormal minimizers for rank 2 sub-Riemannian structures
- Privileged coordinates and nilpotent approximation for Carnot manifolds. II: Carnot coordinates
- Sub-Riemannian geometry, Hamiltonian dynamics, micro-swimmers, copepod nauplii and copepod robot
- On projective and affine equivalence of sub-Riemannian metrics
- Intrinsic random walks and sub-Laplacians in sub-Riemannian geometry
- Control systems on nilpotent Lie groups of dimension \(\leq 4\): equivalence and classification
- Asymptotic behavior of the Riemannian Heisenberg group and its horoboundary
- Horizontal holonomy and foliated manifolds
- Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group
- Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems
- Non-minimality of corners in subriemannian geometry
- Bridges between subriemannian geometry and algebraic geometry: now and then
- Quasiregular mappings on sub-Riemannian manifolds
- Control of a mobile robot with a trailer based on nilpotent approximation
- Symmetries in geometric control theory using Maple
- On symmetries of a sub-Riemannian structure with growth vector \((4, 7)\)
- On expansions for nonlinear systems error estimates and convergence issues
- Flatness and small-time controllability of multibody mobile robots: Application to motion planning
- Dynamically consistent Jacobian inverse for mobile manipulators
- Exponential stabilization of nonholonomic systems by means of oscillating controls
- Complexity of control-affine motion planning
- Connections in sub-Riemannian geometry of parallelizable distributions
- scientific article; zbMATH DE number 426001 (Why is no real title available?)
- scientific article; zbMATH DE number 426005 (Why is no real title available?)
- scientific article; zbMATH DE number 426006 (Why is no real title available?)
- scientific article; zbMATH DE number 426007 (Why is no real title available?)
- Horizontal holonomy for affine manifolds
- Motion planning and fastly oscillating controls
- Conjugate Times and Regularity of the Minimum Time Function with Differential Inclusions
- scientific article; zbMATH DE number 124711 (Why is no real title available?)
- scientific article; zbMATH DE number 475205 (Why is no real title available?)
- An Approximation Algorithm for Nonholonomic Systems
- On the cut locus of free, step two Carnot groups
- Local controllability of trident snake robot based on sub-Riemannian extremals
- On geometric control models of a robotic snake
- Optimal strokes at low Reynolds number: a geometric and numerical study of copepod and purcell swimmers
- Curvature: A Variational Approach
- Intrinsic random walks in Riemannian and sub-Riemannian geometry via volume sampling
- On Tangent Cones to Length Minimizers in Carnot--Carathéodory Spaces
- scientific article; zbMATH DE number 850086 (Why is no real title available?)
- Controllability of nonholonomic black holes systems
- Hausdorff volume in non equiregular sub-Riemannian manifolds
- On certain hyperelliptic signals that are natural controls for nonholonomic motion planning
- Rolling manifolds of different dimensions
- On the induced geometry on surfaces in 3D contact sub-Riemannian manifolds
- Tunneling estimates and approximate controllability for hypoelliptic equations
- Periodical body deformations are optimal strategies for locomotion
- Two-point problem for systems satisfying the controllability condition with Lie brackets of the second order
- Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy
- General nilpotent and solvable approximations of almost-Riemannian structures
- Lipschitz Carnot-Carathéodory structures and their limits
- Local control of 2-link robotic worms based on additional symmetries
- On target-oriented control of Hénon and Lozi maps
- Operators arising as second variation of optimal control problems and their spectral asymptotics
- Surface measure on, and the local geometry of, sub-Riemannian manifolds
- Carnot rectifiability of sub-Riemannian manifolds with constant tangent
- Model predictive control of non-holonomic systems: beyond differential-drive vehicles
- Functional determinants for the second variation
- Small Radius Spheres in Output Space of Nonholonomic Systems
- Local L^1 sub-Finsler geometry in dimension 3: non-generic cases
- Blowups and blowdowns of geodesics in Carnot groups
- Subelliptic wave equations are never observable
- Failure of curvature-dimension conditions on sub-Riemannian manifolds via tangent isometries
- Left-invariant distributions diffeomorphic to flat distributions
- Higher order Goh conditions for singular extremals of corank 1
- Motion planning for a high order Dubins vehicle
- Relative heat content asymptotics for sub-Riemannian manifolds
- Existence and multiplicity of solutions to perturbed \(\Delta^{\alpha,\beta}_{\alpha_1,\beta_1}\)-Laplacian system in \(\mathbb{R}^N\) involving critical nonlinearity
- Privileged coordinates and nilpotent approximation of Carnot manifolds. I: General results
- Unified synthetic Ricci curvature lower bounds for Riemannian and sub-Riemannian structures
- A gradient flow on control space with rough initial condition
- The collision avoidance and the controllability for n bodies in dimension one
- On Courant and Pleijel theorems for sub-Riemannian Laplacians
- Fokker-Planck equations on homogeneous Lie groups and probabilistic counterparts
- Local control on quaternion Heisenberg group of dimension 7
- Canonical connections on sub-Riemannian manifolds with constant symbol
- Canonical frames for bracket generating rank 2 distributions which are not Goursat
- A review of the tangent space in sub-Finsler geometry and applications to the failure of the \(\mathsf{CD}\) condition
- Sharp regularity of sub-Riemannian length-minimizing curves
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