Path planning on compact Lie groups using a homotopy method.

DOI10.1016/S0167-6911(02)00235-9zbMath1106.93320OpenAlexW1988366872WikidataQ115339582 ScholiaQ115339582MaRDI QIDQ1853438

Yacine Chitour

Publication date: 21 January 2003

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(02)00235-9

zbMATH Keywords

Motion planningHomotopy methodHomogeneous control systemsSub-Riemannian metric

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems in abstract spaces (93C25) Nonholonomic systems related to the dynamics of a system of particles (70F25) Sub-Riemannian geometry (53C17)

Related Items (2)

Optimal under-actuated kinematic motion planning on the \(\epsilon\)-group ⋮ A continuation method for motion-planning problems

Cites Work

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• Sub-Riemannian geometry
• How fat is a fat bundle
• Singular extremals on Lie groups
• A survey of singular curves in sub-Riemannian geometry
• Shortest paths for sub-Riemannian metrics on rank-two distributions
• Lie Algebraic Solution of Linear Differential Equations
• Introduction to Lie Algebras and Representation Theory

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