The car with N Trailers : characterization of the singular configurations

DOI10.1051/cocv:1996108zbMath0874.93033OpenAlexW2139769822MaRDI QIDQ3127354

Frédéric Jean

Publication date: 8 April 1997

Published in: ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL: https://eudml.org/doc/116550

zbMATH Keywords

Lie algebravector fieldsNonholonomic systemsdegree of nonholonomycar pulling \(n\) trailersControl Lie AlgebraMultibody mobile robot

Mathematics Subject Classification ID

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