| Control of Nonholonomic Systems: From Sub-Riemannian Geometry to Motion Planning 2014 Edition Contributor(s): Jean, Frédéric (Author) |
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ISBN: 3319086898 ISBN-13: 9783319086897 Publisher: Springer OUR PRICE: $75.99 Product Type: Paperback Published: July 2014 |
| Additional Information |
| BISAC Categories: - Science | System Theory - Mathematics | Geometry - Differential - Computers | Intelligence (ai) & Semantics |
| Dewey: 004 |
| Series: Springerbriefs in Mathematics |
| Physical Information: 0.24" H x 6.14" W x 9.21" (0.38 lbs) 104 pages |
| Descriptions, Reviews, Etc. |
| Publisher Description: 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. |