Nonholonomic Trajectory Optimization and the Existence of Twisted Matrix Logarithms

DOI10.1007/978-3-540-74358-3_5zbMath1190.53026OpenAlexW2125067208MaRDI QIDQ3564153

Roger W. Brockett

Publication date: 2 June 2010

Published in: Analysis and Design of Nonlinear Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-74358-3_5

zbMATH Keywords

sub-Riemannian geometryshortest path problem

Mathematics Subject Classification ID

Geodesics in global differential geometry (53C22) Sub-Riemannian geometry (53C17) Nonholonomic dynamical systems (37J60)

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