Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning
From MaRDI portal
Publication:5495094
DOI10.1007/978-3-319-08690-3zbMath1309.93002OpenAlexW1643902510MaRDI QIDQ5495094
Publication date: 30 July 2014
Published in: SpringerBriefs in Mathematics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/978-3-319-08690-3
nonholonomic systemscontrol theorymotion planningnilpotent systemsCarnot-Carathédeory metric spacessub-rRemannian geometry
Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Control/observation systems in abstract spaces (93C25) Artificial intelligence for robotics (68T40) Sub-Riemannian geometry (53C17) Methods of local Riemannian geometry (53B21)
Related Items (66)
Solvable approximations of 3-dimensional almost-Riemannian structures ⋮ Quantum confinement on non-complete Riemannian manifolds ⋮ Quasiregular mappings on sub-Riemannian manifolds ⋮ Horizontal holonomy for affine manifolds ⋮ Tunneling estimates and approximate controllability for hypoelliptic equations ⋮ Upper bound estimates of eigenvalues for Hörmander operators on non-equiregular sub-Riemannian manifolds ⋮ Existence of tangent lines to Carnot-Carathéodory geodesics ⋮ Conjugate Times and Regularity of the Minimum Time Function with Differential Inclusions ⋮ Control systems on nilpotent Lie groups of dimension \(\leq 4\): equivalence and classification ⋮ Control of a mobile robot with a trailer based on nilpotent approximation ⋮ Local geometric control of a certain mechanism with the growth vector \((4,7)\) ⋮ Asymptotic behavior of the Riemannian Heisenberg group and its horoboundary ⋮ Symmetries in geometric control theory using Maple ⋮ A dynamical approach to the Sard problem in Carnot groups ⋮ General nilpotent and solvable approximations of almost-Riemannian structures ⋮ Lipschitz Carnot-Carathéodory structures and their limits ⋮ Local control of 2-link robotic worms based on additional symmetries ⋮ On symmetries of a sub-Riemannian structure with growth vector \((4, 7)\) ⋮ On the cut locus of free, step two Carnot groups ⋮ Operators arising as second variation of optimal control problems and their spectral asymptotics ⋮ Surface measure on, and the local geometry of, sub-Riemannian manifolds ⋮ A primer on Carnot groups: homogenous groups, Carnot-Carathéodory spaces, and regularity of their isometries ⋮ Complexity of Control-Affine Motion Planning ⋮ Horizontal holonomy and foliated manifolds ⋮ On expansions for nonlinear systems error estimates and convergence issues ⋮ Carnot rectifiability of sub-Riemannian manifolds with constant tangent ⋮ Model predictive control of non-holonomic systems: beyond differential-drive vehicles ⋮ Functional determinants for the second variation ⋮ Local \(L^1\) sub-Finsler geometry in dimension 3: non-generic cases ⋮ Blowups and blowdowns of geodesics in Carnot groups ⋮ Subelliptic wave equations are never observable ⋮ Failure of curvature-dimension conditions on sub-Riemannian manifolds via tangent isometries ⋮ Left-invariant distributions diffeomorphic to flat distributions ⋮ Higher order Goh conditions for singular extremals of corank 1 ⋮ Pauls rectifiable and purely Pauls unrectifiable smooth hypersurfaces ⋮ Constraint control of nonholonomic mechanical systems ⋮ Connections in sub-Riemannian geometry of parallelizable distributions ⋮ Periodical Body Deformations are Optimal Strategies for Locomotion ⋮ A Bonnet-Myers type theorem for quaternionic contact structures ⋮ Tangent maps and tangent groupoid for Carnot manifolds ⋮ Privileged coordinates and nilpotent approximation of Carnot manifolds. I: General results ⋮ Hausdorff volume in non equiregular sub-Riemannian manifolds ⋮ Non-minimality of spirals in sub-Riemannian manifolds ⋮ Sub-Riemannian interpolation inequalities ⋮ Rolling manifolds of different dimensions ⋮ Optimal Strokes at Low Reynolds Number: A Geometric and Numerical Study of Copepod and Purcell Swimmers ⋮ Curvature: A Variational Approach ⋮ Intrinsic random walks in Riemannian and sub-Riemannian geometry via volume sampling ⋮ Intrinsic and apparent singularities in differentially flat systems, and application to global motion planning ⋮ On the Whitney extension property for continuously differentiable horizontal curves in sub-Riemannian manifolds ⋮ Two-point problem for systems satisfying the controllability condition with Lie brackets of the second order ⋮ Asymptotic expansion of holonomy ⋮ On Tangent Cones to Length Minimizers in Carnot--Carathéodory Spaces ⋮ On the regularity of abnormal minimizers for rank 2 sub-Riemannian structures ⋮ Dynamically consistent Jacobian inverse for mobile manipulators ⋮ Non-minimality of corners in subriemannian geometry ⋮ Exponential Stabilization of Nonholonomic Systems by Means of Oscillating Controls ⋮ On geometric control models of a robotic snake ⋮ Local controllability of trident snake robot based on sub-Riemannian extremals ⋮ Small-time asymptotics of hypoelliptic heat kernels near the diagonal, nilpotentization and related results ⋮ Privileged coordinates and nilpotent approximation for Carnot manifolds. II: Carnot coordinates ⋮ A cornucopia of Carnot groups in low dimensions ⋮ Sub-Riemannian geometry, Hamiltonian dynamics, micro-swimmers, copepod nauplii and copepod robot ⋮ On projective and affine equivalence of sub-Riemannian metrics ⋮ On the induced geometry on surfaces in 3D contact sub-Riemannian manifolds ⋮ Intrinsic random walks and sub-Laplacians in sub-Riemannian geometry
This page was built for publication: Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning
