The rolling problem: overview and challenges

DOI10.1007/978-3-319-02132-4_7MaRDI QIDQ5165569zbMATH OpenOpenAlexFDO

Authors Mauricio Godoy Molina, Petri Kokkonen, Yacine Chitour

Publication date 30 June 2014

Published in Geometric Control Theory and Sub-Riemannian Geometry (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1301.6370

zbMATH Keywords

geometric control theoryinstrinsic Riemannian geometryinterpolationroboticssub-Riemannian geometry

Mathematics Subject Classification ID

Global Riemannian geometry, including pinching (53C20) Automated systems (robots, etc.) in control theory (93C85)

Abstract: In the present paper we give a historical account -ranging from classical to modern results- of the problem of rolling two Riemannian manifolds one on the other, with the restrictions that they cannot instantaneously slip or spin one with respect to the other. On the way we show how this problem has profited from the development of intrinsic Riemannian geometry, from geometric control theory and sub-Riemannian geometry. We also mention how other areas -such as robotics and interpolation theory- have employed the rolling model.

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Cited in

(17)

• Connections induced by the rolling of a ball on a surface
• A unifying approach for rolling symmetric spaces
• Controllability results for the rolling of 2-dimensional against 3-dimensional Riemannian manifolds. I
• Geometric conditions for the existence of a rolling without twisting or slipping
• Introduction to the intrinsic rolling with indefinite metric
• On the geometry of rolling and interpolation curves on \(S^n\), \(\mathrm{SO}_n\), and Grassmann manifolds
• Symmetric spaces rolling on flat spaces
• Rolling maps in a Riemannian framework
• Horizontal holonomy for affine manifolds
• Rolling maps and nonlinear data
• Rolling against a sphere: the non-transitive case
• The geometry of rolling maps
• Rolling manifolds of different dimensions
• Cartan ribbonization and a topological inspection
• Lie algebras and integrable systems: elastic curves and rolling geodesics
• Rolling with random slipping and twisting: a large deviation point of view
• Rolling geodesics on symmetric semi-Riemannian spaces

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