Elastic curves as solutions of Riemannian and sub-Riemannian control problems.

DOI10.1007/PL00009863MaRDI QIDQ1577557zbMATH OpenOpenAlexWikidataFDO

Authors Fátima Silva Leite, Margarida Camarinha, Peter E. Crouch

Publication date 2000

Published in MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)

Full work available at URL http://springerlink.metapress.com/app/home/content.asp?wasp=07wcygyywr4vqrjgvkwp&referrer=contribution&format=2&page=1&pagecount=16

zbMATH Keywords

Riemannian manifolds, sub-Riemannian structure, Lie groups, tangent bundle, Sasaki metric, elastic curves, normal extremals, sub-Riemannian optimal control.

Mathematics Subject Classification ID

Approximation by other special function classes (41A30) Sub-Riemannian geometry (53C17) Applications of variational problems to control theory (58E25) Existence theories for problems in abstract spaces (49J27)

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• Duality and Riemannian cubics
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• Planning rigid body motions using elastic curves
• Non-null Lie quadratics in E3
• Optimal control problems on parallelizable Riemannian manifolds: theory and applications
• Variational point-obstacle avoidance on Riemannian manifolds
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• Existence of variationally defined curves with higher order elliptic Lagrangians
• Null cubics and Lie quadratics

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