The car with trailers : characterisation of the singular configurations
ESAIM: Control, Optimisation and Calculus of Variations (1996)
- Volume: 1, page 241-266
- ISSN: 1292-8119
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topJean, Frédéric. "The car with $N$ trailers : characterisation of the singular configurations." ESAIM: Control, Optimisation and Calculus of Variations 1 (1996): 241-266. <http://eudml.org/doc/90498>.
@article{Jean1996,
author = {Jean, Frédéric},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
keywords = {Control Lie Algebra; Multibody mobile robot; Nonholonomic systems; car pulling trailers; degree of nonholonomy; vector fields; Lie algebra},
language = {eng},
pages = {241-266},
publisher = {EDP Sciences},
title = {The car with $N$ trailers : characterisation of the singular configurations},
url = {http://eudml.org/doc/90498},
volume = {1},
year = {1996},
}
TY - JOUR
AU - Jean, Frédéric
TI - The car with $N$ trailers : characterisation of the singular configurations
JO - ESAIM: Control, Optimisation and Calculus of Variations
PY - 1996
PB - EDP Sciences
VL - 1
SP - 241
EP - 266
LA - eng
KW - Control Lie Algebra; Multibody mobile robot; Nonholonomic systems; car pulling trailers; degree of nonholonomy; vector fields; Lie algebra
UR - http://eudml.org/doc/90498
ER -
References
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- [8] J.-P. Laumond: Singularities and Topological Aspects in Nonholonomic Motion Planning, in Nonholonomic Motion Planning, Z. Li and J. Canny Ed., Kluver Academic Publishers ( 1993), 149-199. Zbl0787.70019
- [9] F. Luca, J.-J. Risler: The maximum of the degree of non holonomy for the car with n trailers, in Proceedings of the 4th IFAC Symposium on Robot Control, Capri, 1994.
- [10] F. Luca, J.-J. Risler: The maximum of the degree of nonholonomy for the car with n trailers, Preprint LMENS-93-14, Ecole Normale Supérieure, Paris, 1993.
- [11] R. Murray, S. Sastry: Nonholonomic Motion Planning: Steering Using Sinusoids, IEEE Transactions on Automatic Control, Vol 38, May 1993. Zbl0800.93840MR1224308
- [12] O.J. Sørdalen: Conversion of the kinematics of a car with n trailers into a chain form, IEEE International Conference on Robotics and Automation, 1993.
- [13] O.J. Sørdalen: On the global degree of non holonomy of a car with n trailers, Memorandum of Electronic Research Laboratory, Berkeley, 1993.
- [14] H. J. Sussmann: Lie brackets, real analyticity and geometric control, Differential Geometric Control Theory, Brockett, Millman, Sussmann Eds, Birkhäuser, 1982. Zbl0545.93002MR708500
- [15] D. Tilbury, J.-P. Laumond, R. Murray, S. Sastry, G. Walsh: Steering Car-like System with Trailers Using Sinusoids, in Procedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France.
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