Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus (Q3151570)
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| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus |
scientific article |
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Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus (English)
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16 October 2002
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nilpotency
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Kumpera-Ruiz normal form
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non-holonomic motion planning
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steering the two-trailer system
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singular configurations
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Goursat structures
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