A continuation method for motion-planning problems

DOI10.1051/cocv:2005035zbMath1105.93030OpenAlexW2034190982MaRDI QIDQ3416735

Yacine Chitour

Publication date: 22 January 2007

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

Full work available at URL: http://www.numdam.org/item?id=COCV_2006__12_1_139_0

zbMATH Keywords

path followingsub-Riemannian geometryhomotopy continuation methodmotion planning problemnonholonomic control systemsWazewski equation

Mathematics Subject Classification ID

Related Items (12)

Horizontal holonomy for affine manifolds ⋮ Lagrangian Jacobian inverse for nonholonomic robotic systems ⋮ Constrained motion planning of nonholonomic systems ⋮ The planning of optimal motions of non-holonomic systems ⋮ Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory ⋮ A classification of configuration spaces of planar robot arms for a continuous inverse kinematics problem ⋮ Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots ⋮ Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach ⋮ Motion planning in velocity affine mechanical systems ⋮ Dynamically consistent Jacobian inverse for mobile manipulators ⋮ Design of inverse kinematics algorithms: extended Jacobian approximation of the dynamically consistent Jacobian inverse ⋮ Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots

Cites Work

• Large deviations and the Malliavin calculus
• Sub-Riemannian geometry
• Carnot-Carathéodory metrics and quasiisometries of symmetric spaces of rank 1
• Horizontal path spaces and Carnot-Carathéodory metrics
• Path planning on compact Lie groups using a homotopy method.
• A survey of singular curves in sub-Riemannian geometry
• Functional analysis and Galerkin's method
• Differential Topology
• An Approximation Algorithm for Nonholonomic Systems
• On the motion planning of rolling surfaces
• Shortest paths for sub-Riemannian metrics on rank-two distributions
• Shortest paths synthesis for a car-like robot
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