Nilpotent approximation of a trident snake robot controlling distribution

Jaroslav Hrdina; Radomil Matoušek; Aleš Návrat; Petr Vašík

Kybernetika (2017)

  • Volume: 53, Issue: 6, page 1118-1130
  • ISSN: 0023-5954

Abstract

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We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.

How to cite

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Hrdina, Jaroslav, et al. "Nilpotent approximation of a trident snake robot controlling distribution." Kybernetika 53.6 (2017): 1118-1130. <http://eudml.org/doc/294447>.

@article{Hrdina2017,
abstract = {We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.},
author = {Hrdina, Jaroslav, Matoušek, Radomil, Návrat, Aleš, Vašík, Petr},
journal = {Kybernetika},
keywords = {robotic snake; local control; nilpotent approximation},
language = {eng},
number = {6},
pages = {1118-1130},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Nilpotent approximation of a trident snake robot controlling distribution},
url = {http://eudml.org/doc/294447},
volume = {53},
year = {2017},
}

TY - JOUR
AU - Hrdina, Jaroslav
AU - Matoušek, Radomil
AU - Návrat, Aleš
AU - Vašík, Petr
TI - Nilpotent approximation of a trident snake robot controlling distribution
JO - Kybernetika
PY - 2017
PB - Institute of Information Theory and Automation AS CR
VL - 53
IS - 6
SP - 1118
EP - 1130
AB - We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.
LA - eng
KW - robotic snake; local control; nilpotent approximation
UR - http://eudml.org/doc/294447
ER -

References

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