On certain hyperelliptic signals that are natural controls for nonholonomic motion planning

DOI10.1007/S00498-015-0145-2MaRDI QIDQ495699zbMATH OpenOpenAlexFDO

Authors Jean-Paul Gauthier, Felipe Monroy-Pérez

Publication date 15 September 2015

Published in MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00498-015-0145-2

zbMATH Keywords

nonholonomic systemsmotion planningsubriemannian geometry

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Sub-Riemannian geometry (53C17) Robot dynamics and control of rigid bodies (70E60) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Geometric methods (93B27)

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Cites work

• scientific article; zbMATH DE number 426004 (Why is no real title available?)
• scientific article; zbMATH DE number 3105629 (Why is no real title available?)
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• Local asymptotic approximation of non-linear control systems!
• Measures of transverse paths in sub-Riemannian geometry
• Motion Planning for Kinematic Systems
• Motion planning and fastly oscillating controls
• Non-holonomic control systems: from steering to stabilization with sinusoids
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• On the codimension one motion planning problem
• On the motion planning of the ball with a trailer
• On the motion planning problem, complexity, entropy, and nonholonomic interpolation
• On the one-step-Bracket-Generating motion planning problem
• Practical stabilization of driftless systems on lie groups: The transverse function approach
• The tangent space in sub-Riemannian geometry
• Trajectory generation for the N-trailer problem using Goursat normal form

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