On the motion planning problem, complexity, entropy, and nonholonomic interpolation

DOI10.1007/s10450-006-0005-yzbMath1121.53025MaRDI QIDQ867468

Jean-Paul Gauthier, Vladimir M. Zakalyukin

Publication date: 15 February 2007

Published in: Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10450-006-0005-y

zbMATH Keywords

entropy; robotics; metric complexity; sub-Riemannian gometry

Mathematics Subject Classification ID

34H05: Control problems involving ordinary differential equations

49J15: Existence theories for optimal control problems involving ordinary differential equations

58A15: Exterior differential systems (Cartan theory)

53C17: Sub-Riemannian geometry

Related Items

Approximation of Generalized Minimizers and Regularization of Optimal Control Problems, Hausdorff volume in non equiregular sub-Riemannian manifolds, On certain hyperelliptic signals that are natural controls for nonholonomic motion planning, Measuring singularity of generalized minimizers for control-affine problems, On the Hausdorff volume in sub-Riemannian geometry, High-order sufficient conditions for configuration tracking of affine connection control systems, Generalized solutions for singular optimal control problems, Entropy estimations for motion planning problems in robotics, Normal forms for sub-Lorentzian metrics supported on Engel type distributions, Metric geometry of nonregular weighted Carnot-Carathéodory spaces, Cut time in sub-riemannian problem on engel group, Influence of nonholonomic constraints on variations, symplectic structure, and dynamics of mechanical systems

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• On the codimension one motion planning problem
• On the one-step-Bracket-Generating motion planning problem
• Quasi-contact S-R metrics: Normal form in \(\mathbb{R}^{2n}\), wave front and caustic in \(\mathbb{R}^4\)
• Measures of transverse paths in sub-Riemannian geometry
• Small sub-Riemannian balls on \(\mathbf R^3\)
• Complexity of nonholonomic motion planning
• Entropy and complexity of a path in sub-Riemannian geometry
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• Sub-Riemannian metrics and isoperimetric problems in the contact case