Control of nonholonomic systems : from sub-riemannian geometry to motion planning /

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Bibliographic Details
Author / Creator:	Jean, Frédéric, author.
Imprint:	Cham : Springer, 2014.
Description:	1 online resource (x, 104 pages) : color illustration.
Language:	English
Series:	SpringerBriefs in Mathematics, 2191-8198 SpringerBriefs in mathematics,
Subject:	Nonholonomic dynamical systems. Nonholonomic dynamical systems.
Format:	E-Resource Book
URL for this record:	http://pi.lib.uchicago.edu/1001/cat/bib/11086637

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ISBN:	9783319086903 3319086901 3319086898 9783319086897 9783319086897
Notes:	Includes bibliographical references. Online resource; title from PDF title page (SpringerLink, viewed July 29, 2014).
Summary:	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.
Other form:	Printed edition: 9783319086897
Standard no.:	10.1007/978-3-319-08690-3

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