Abnormal extremals in the sub-Riemannian problem for a general model of a robot with a trailer

DOI10.4213/SM9829EMaRDI QIDQ6492373zbMATH OpenFDO

Authors Andrei A. Ardentov, Elizaveta M. Artemova

Publication date 25 April 2024

Published in Sbornik: Mathematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.4213/SM9829E

zbMATH Keywords

abnormal trajectorieskinematic modelPontryagin maximum principlerobot with trailersub-Riemannian geometry

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Sub-Riemannian geometry (53C17) Control of mechanical systems (70Q05)

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Cited in

(1)

• Controllability of the general model of a wheeled robot with two trailers

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