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New differential geometric methods in nonholonomic path finding. (English) Zbl 0777.93014

Systems, models and feedback: theory and applications, Proc. US-Italy Workshop in Honor of Prof. Antonio Ruberti, Capri/Italy 1992, Prog. Syst. Control Theory 12, 365-384 (1992).
Summary: [For the entire collection see Zbl 0745.00051.]
We outline three approaches for nonholonomic path finding — nilpotent approximation, highly oscillatory inputs and path deformation — that are based on the use of the techniques of modern geometric optimal control theory, as well as a more classical one — optimal control — where differential geometric methods are also beginning to play a significant role.

MSC:

93B29 Differential-geometric methods in systems theory (MSC2000)

Citations:

Zbl 0745.00051
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