Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus

DOI10.1080/00207170010026149zbMath1024.93036arXivmath/0004125OpenAlexW2161629722MaRDI QIDQ3151570

William Pasillas-Lépine, Witold Respondek

Publication date: 16 October 2002

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/math/0004125

zbMATH Keywords

nilpotencysingular configurationsGoursat structuresKumpera-Ruiz normal formnon-holonomic motion planningsteering the two-trailer system

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

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