Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
2011 ◽
Vol 21
(3)
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pp. 525-534
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Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.
2018 ◽
Vol 94
(1)
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pp. 265-282
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Keyword(s):
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2012 ◽
Vol 241-244
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pp. 1922-1930