Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning
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, th...
| Published in: | Springer eBooks |
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| Format: | eBook |
| Language: | English |
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Cham :
Springer International Publishing : Imprint: Springer,
2014.
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| Series: | SpringerBriefs in Mathematics,
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| Subjects: | |
| Online Access: | http://dx.doi.org/10.1007/978-3-319-08690-3 Перейти в каталог НБ ТГУ |
Table of Contents:
- 1 Geometry of nonholonomic systems
- 2 First-order theory
- 3 Nonholonomic motion planning
- 4 Appendix A: Composition of flows of vector fields
- 5 Appendix B: The different systems of privileged coordinates.