Trajectory generation for the N-trailer problem using Goursat normal form

DOI10.1109/9.384215zbMath0826.93046OpenAlexW2101419433WikidataQ59814455 ScholiaQ59814455MaRDI QIDQ4841484

Dawn M. Tilbury, Richard M. Murray, Shankar S. Sastry

Publication date: 27 November 1995

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.384215

zbMATH Keywords

transformations mobile robot Pfaffian system exterior differential forms $n$ trailers Goursat canonical form nonholomorphic motion planning

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Canonical structure (93B10) Transformations (93B17) Pfaffian systems (58A17) Exterior differential systems (Cartan theory) (58A15)

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Uses Software

Mathematica

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