Complexity of control-affine motion planning
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Publication:2954473
DOI10.1137/130950793zbMATH Open1356.53037arXiv1309.2571OpenAlexW2043357744MaRDI QIDQ2954473FDOQ2954473
Authors: Dario Prandi, Frédéric Jean 
Publication date: 13 January 2017
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
Abstract: In this paper we study the complexity of the motion planning problem for control-affine systems. Such complexities are already defined and rather well-understood in the particular case of nonholonomic (or sub-Riemannian) systems. Our aim is to generalize these notions and results to systems with a drift. Accordingly, we present various definitions of complexity, as functions of the curve that is approximated, and of the precision of the approximation. Due to the lack of time-rescaling invariance of these systems, we consider geometric and parametrized curves separately. Then, we give some asymptotic estimates for these quantities.
Full work available at URL: https://arxiv.org/abs/1309.2571
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Sub-Riemannian geometry (53C17) Control/observation systems governed by ordinary differential equations (93C15)
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Cited In (5)
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