On the motion planning of the ball with a trailer

DOI10.3934/MCRF.2013.3.269zbMath1273.49003arXiv1203.5623OpenAlexW2320544827MaRDI QIDQ371133

Nicolas Boizot, Jean-Paul Gauthier

Publication date: 27 September 2013

Published in: Mathematical Control and Related Fields (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1203.5623

zbMATH Keywords

optimal controlsub-Riemannian geometrymotion planningroboticsball with a trailer

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Control of mechanical systems (70Q05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Applications of global differential geometry to the sciences (53C80) Lie algebras of Lie groups (22E60) Sub-Riemannian geometry (53C17)

Related Items (4)

Liouville integrability of sub-Riemannian problems on Carnot groups of step 4 or greater ⋮ On certain hyperelliptic signals that are natural controls for nonholonomic motion planning ⋮ Sub-Riemannian \((2, 3, 5, 6)\)-structures ⋮ Carnot algebras and sub-Riemannian structures with growth vector \((2,\,3,\,5,\,6)\)

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