Impact of control representations on efficiency of local nonholonomic motion planning

DOI10.2478/V10175-011-0026-XMaRDI QIDQ2250898zbMATH OpenOpenAlexFDO

Authors Ignacy Dulȩba

Publication date 22 July 2014

Published in Bulletin of the Polish Academy of Sciences. Technical Sciences (Search for Journal in Brave)

Full work available at URL http://bulletin.pan.pl/(59-2)213.html, https://semanticscholar.org/paper/1a057bf825099c09147dd0da488d97539dec81d7

zbMATH Keywords

controllabilityLie-algebraic methodsmotion planningnonholonomic systemsoptimization

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05)

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Cites work

• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• scientific article; zbMATH DE number 3914081 (Why is no real title available?)
• Planning Algorithms
• Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems
• The Campbell-Baker-Hausdorff-Dynkin formula and solutions of differential equations
• Über Systeme von linearen partiellen Differentialgleichungen erster Ordnung

Cited in

(4)

• Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
• Bases for local nonholonomic motion planning
• Locally optimal motion planning of nonholonomic systems
• Evaluation of parameterizations in local Lie-algebraic motion planning

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