| 书目名称 | Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning |
| 编辑 | Frédéric Jean |
| 视频video | |
| 概述 | Provides recent results and state-of-the-art in nonholonomic motion planning.Includes the description of a complete algorithm.It is a crash course on first-order theory in sub-Riemannian geometry.Incl |
| 丛书名称 | SpringerBriefs in Mathematics |
| 图书封面 |  |
| 描述 | 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. |
| 出版日期 | Book 2014 |
| 关键词 | Control theory; Motion planning; Nilpotent systems; Nonholonomic systems; Sub-Riemannian geometry |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-08690-3 |
| isbn_softcover | 978-3-319-08689-7 |
| isbn_ebook | 978-3-319-08690-3Series ISSN 2191-8198 Series E-ISSN 2191-8201 |
| issn_series | 2191-8198 |
| copyright | The Author(s) 2014 |
发表于 2025-3-21 17:31:24
