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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Control of Nonholonomic Systems: From Sub-Riemannian Geometry to Motion Planning

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

Jean, Frédéric

Paperback

Series: Springerbriefs in Mathematics

General ComputersGeneral ScienceGeometry

ISBN10: 3319086898
ISBN13: 9783319086897
Publisher: Springer Nature
Published: Jul 30 2014
Pages: 104
Weight: 0.38
Height: 0.24 Width: 6.14 Depth: 9.21
Language: English
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.

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