Motion planning problem: Parametrized inputs and drift problem.

DOI10.1016/S0378-4754(96)00044-4MaRDI QIDQ1565859zbMATH OpenFDO

Authors C. Guyon

Publication date 27 May 2003

Published in Mathematics and Computers in Simulation (Search for Journal in Brave)

zbMATH Keywords

computer algebraLie algebrasymbolic computationnonholonomic motion planningparametrized inputssystems with drift

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Lie groups (22E99)

Cites work

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• Lyndon Words, Free Algebras and Shuffles
• Nonholonomic motion planning: steering using sinusoids
• Trajectory generation for the N-trailer problem using Goursat normal form

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