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

• Κύριος συγγραφέας: Jean, Frédéric (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2014.
• Σειρά: SpringerBriefs in Mathematics,
• Θέματα: 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...

Πίνακας περιεχομένων:

• 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.