Complexity of control-affine motion planning

DOI10.1137/130950793MaRDI QIDQ2954473zbMATH OpenOpenAlexFDO

Authors Dario Prandi, Frédéric Jean

Publication date 13 January 2017

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1309.2571

zbMATH Keywords

complexitysub-Riemannian geometrymotion planningcontrol-affine systems

Mathematics Subject Classification ID

Sub-Riemannian geometry (53C17) Control/observation systems governed by ordinary differential equations (93C15)

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.

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Cited in

(5)

• Turnpike in Lipschitz-nonlinear optimal control
• Turnpike in optimal control of PDEs, ResNets, and beyond
• Complexity of nonholonomic motion planning
• Motion planning in velocity affine mechanical systems
• The complexity of planar compliant motion planning under uncertainty

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