Control of nonholonomic systems, from sub-riemannian geometry to motion planning
Jean, Frédéric
Control of nonholonomic systems : from sub-riemannian geometry to motion planning [Documento electrónico] / Frédéric Jean. - Cham : Springer International Publishing , 2014 . - X, 104 p. : il.. - (SpringerBriefs in Mathematics) Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
Clicar aqui para aceder a um recurso externo
ISBN 978-3-319-08690-3
Geometria diferencial
LCC QA641
Control of nonholonomic systems : from sub-riemannian geometry to motion planning [Documento electrónico] / Frédéric Jean. - Cham : Springer International Publishing , 2014 . - X, 104 p. : il.. - (SpringerBriefs in Mathematics) Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
Clicar aqui para aceder a um recurso externo
ISBN 978-3-319-08690-3
Geometria diferencial
LCC QA641
