scientific article; zbMATH DE number 1301653
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Publication:4246860
zbMath0946.70003MaRDI QIDQ4246860
Yacine Chitour, Héctor J. Sussmann
Publication date: 17 October 2000
Title: zbMATH Open Web Interface contents unavailable due to conflicting licenses.
continuation methodglobal existencesub-Riemannian manifoldsabnormal extremalsopen-loop controlsfront-wheel-driven carnonholonomic path-planning problempath-lifting differential equationStrichartz's strong bracket generating conditions
Kinematics of a rigid body (70B10) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)
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Extended Jacobian inverse kinematics algorithms for mobile manipulators ⋮ Lagrangian Jacobian inverse for nonholonomic robotic systems ⋮ Approximation of Jacobian inverse kinematics algorithms ⋮ 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 ⋮ Singularities of holonomic and non-holonomic robotic systems: a normal form approach ⋮ Repeatable approximation of the Jacobian pseudo-inverse ⋮ A continuation method for motion-planning problems ⋮ Path planning on compact Lie groups using a homotopy method.
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