The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds

DOI10.2307/2001835zbMath0744.70009OpenAlexW4250654979MaRDI QIDQ3977238

Elon Rimon, Daniel E. Koditschek

Publication date: 25 June 1992

Full work available at URL: https://doi.org/10.2307/2001835

zbMATH Keywords

controlalgebraic operationstopological classification problemEuclidean sphere world model

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Kinematics of mechanisms and robots (70B15) General systems theory (93A99)

Related Items

Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems, Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles, Uniform tree approximation by global optimization techniques, Adaptive robot navigation with collision avoidance subject to \(2\)nd-order uncertain dynamics, Coordination and collision avoidance for Lagrangian systems with disturbances, The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds, A fast approach for the robust trajectory planning of redunant robot manipulators, A feedback-based multiagent navigation framework, Navigation of a quadratic potential with ellipsoidal obstacles, Robot navigation functions on manifolds with boundary

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• On the Piano Movers problem. II: General techniques for computing topological properties of real algebraic manifolds
• The existence of polar non-degenerate functions on differentiable manifolds
• Robot navigation functions on manifolds with boundary
• On gradient dynamical systems
• Impedance Control: An Approach to Manipulation: Part II—Implementation
• The Jordan-Brouwer Separation Theorem for Smooth Hypersurfaces
• The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds
• Differential Topology