Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

DOI10.2478/v10006-011-0041-yzbMath1234.93042OpenAlexW2068522660MaRDI QIDQ3113482

Ignacy Dulȩba, Jacek Jagodziński

Publication date: 18 January 2012

Published in: International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL: https://eudml.org/doc/208067

zbMATH Keywords

roboticsLafferriere-Sussmann algorithmmotion representationnilpotent control system

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items (1)

A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Uses Software

• LAMP

Cites Work

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• The Campbell-Baker-Hausdorff-Dynkin formula and solutions of differential equations
• Motion planning for drift-free nonholonomic systems under a discrete levels control constraint
• Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems
• Symbolic computation for mobile robot path planning
• Nonhomogeneous Nilpotent Approximations for Nonholonomic Systems With Singularities
• Planning Algorithms

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