# Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

Ignacy Dulęba; Jacek Jagodziński

International Journal of Applied Mathematics and Computer Science (2011)

- Volume: 21, Issue: 3, page 525-534
- ISSN: 1641-876X

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topIgnacy Dulęba, and Jacek Jagodziński. "Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems." International Journal of Applied Mathematics and Computer Science 21.3 (2011): 525-534. <http://eudml.org/doc/208067>.

@article{IgnacyDulęba2011,

abstract = {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.},

author = {Ignacy Dulęba, Jacek Jagodziński},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {control; nilpotent system; algorithm; motion representation; nilpotent control system; Lafferriere-Sussmann algorithm; robotics},

language = {eng},

number = {3},

pages = {525-534},

title = {Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems},

url = {http://eudml.org/doc/208067},

volume = {21},

year = {2011},

}

TY - JOUR

AU - Ignacy Dulęba

AU - Jacek Jagodziński

TI - Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

JO - International Journal of Applied Mathematics and Computer Science

PY - 2011

VL - 21

IS - 3

SP - 525

EP - 534

AB - 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.

LA - eng

KW - control; nilpotent system; algorithm; motion representation; nilpotent control system; Lafferriere-Sussmann algorithm; robotics

UR - http://eudml.org/doc/208067

ER -

## References

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