Motion planning problem: Parametrized inputs and drift problem.

DOI10.1016/S0378-4754(96)00044-4zbMath1037.93521MaRDI QIDQ1565859

C. Guyon

Publication date: 27 May 2003

Published in: Mathematics and Computers in Simulation (Search for Journal in Brave)

zbMATH Keywords

symbolic computationLie algebracomputer algebranonholonomic motion planningparametrized inputssystems with drift

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Lie groups (22E99)

Cites Work

• Nonholonomic motion planning: steering using sinusoids
• Lyndon Words, Free Algebras and Shuffles
• Trajectory generation for the N-trailer problem using Goursat normal form
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