Global properties of linear constraints in state space and motion planning

DOI10.1007/BF02878698MaRDI QIDQ1373849zbMATH OpenFDO

Authors Bin Chen, Hai Ping Zhu

Publication date 27 September 1998

Published in Science in China. Series A (Search for Journal in Brave)

zbMATH Keywords

singular pointsFrobenius theoremexistence of isolated integral manifoldsPfaff constraints

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10) Holonomic systems related to the dynamics of a system of particles (70F20)

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• A Surface Integral Approach to the Motion Planning of Nonholonomic Systems
• Analytical dynamics of discrete systems
• Nonholonomic motion planning: steering using sinusoids

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