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Control of nonholonomic systems: from sub-Riemannian geometry to motion planning / by Frédéric Jean.
Springer Nature - Springer Mathematics and Statistics (R0) eBooks 2014 English International Available online
Springer Nature - Springer Mathematics and Statistics (R0) eBooks 2014 English International- Format:
- Book
- Author/Creator:
- Jean, Frédéric, Author.
- Series:
- SpringerBriefs in Mathematics, 2191-8198
- Language:
- English
- Subjects (All):
- System theory.
- Geometry, Differential.
- Artificial intelligence.
- Mathematics.
- Computer science.
- Systems Theory, Control.
- Differential Geometry.
- Artificial Intelligence.
- Mathematics, general.
- Computer Science, general.
- Local Subjects:
- Systems Theory, Control.
- Differential Geometry.
- Artificial Intelligence.
- Mathematics, general.
- Computer Science, general.
- Physical Description:
- 1 online resource (112 p.)
- Edition:
- 1st ed. 2014.
- Place of Publication:
- Cham : Springer International Publishing : Imprint: Springer, 2014.
- Language Note:
- English
- Summary:
- 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.
- 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.
- Notes:
- Description based upon print version of record.
- Includes bibliographical references at the end of each chapters.
- ISBN:
- 3-319-08690-1
- OCLC:
- 889312629
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