Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles

DOI10.1007/BF01891837zbMath0779.70003OpenAlexW2059435624MaRDI QIDQ686739

Jérôme Barraquand, Jean-Claude Latombe

Publication date: 13 October 1993

Published in: Algorithmica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf01891837

zbMATH Keywords

equality constraintspath planninginequality constraintscollision avoidancecontrollability rank condition theoremimplemented planneroptimal maneuvering

Mathematics Subject Classification ID

Computing methodologies and applications (68U99) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cites Work

• Nonlinear control systems: An introduction
• Planning constrained motion
• Über Systeme von linearen partiellen Differentialgleichungen erster Ordnung
• Spatial Planning: A Configuration Space Approach
• Nonlinear controllability and observability
• Contrôlabilité des Systèmes non Linéaires
• Nonlinear Controllability via Lie Theory
• Controllability of nonlinear systems
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