Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

• Main Author: Jean, Frédéric (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2014.
• Series: SpringerBriefs in Mathematics,
• Subjects: Mathematics.; Computer science.; Artificial intelligence.; System theory.; Differential geometry.; Systems Theory, Control.; Differential Geometry.; Artificial Intelligence (incl. Robotics).; Mathematics, general.; Computer Science, general.

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...

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.