The car with N trailers : characterisation of the singular configurations

Frédéric Jean

ESAIM: Control, Optimisation and Calculus of Variations (1996)

  • Volume: 1, page 241-266
  • ISSN: 1292-8119

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Jean, 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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  1. [1] A. Bellaïche, J.-P. Laumond et J.-J. Risler: Nilpotent infinitesimal approximations to a control Lie algebra, in Proceedings of the IFAC Non linear Control Systems Design Symposium, pp. 174-181, Bordeaux, France, 1992. 
  2. [2] A. Bellaïche, J.-P. Laumond et J. Jacobs: Controllability of car-like robots and complexity of the motion planning problem, in International Symposium on Intelligent Robotics, pp. 322-337, Bangladore, India, 1991. 
  3. [3] M. Fliess, J. Levine, P. Martin, P. Rouchon: On differential flat nonlinear Systems, in Proceedings of the IFAC Non linear Control Systems Design Symposium, pp. 408-412, Bordeaux, France, 1992. MR1181303
  4. [4] B. Jacquard: Le problème de la voiture à 2, 3 et 4 remorques, Preprint, DMI, ENS Paris, 1993. 
  5. [5] F. Jean: The singular locus for the n-trailers car control System, in Proceedings of the 34 th IEEE International Conference on Decision end Control, New-Orleans, 1995. 
  6. [6] J.-P. Laumond: Controllability of a multibody mobile robot, in Proceedings of the International Conference on Advanced robotics and Automation, pp. 1033-1038, Pisa, Italy, 1991. 
  7. [7] J.-P. Laumond, P.E. Jacobs, M. Taix, R.M. Murray: A motion planner for nonholonomic mobile robot, in LAAS-CNRS Report, Oct. 1992. 
  8. [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. [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. [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. [11] R. Murray, S. Sastry: Nonholonomic Motion Planning: Steering Using Sinusoids, IEEE Transactions on Automatic Control, Vol 38, May 1993. Zbl0800.93840MR1224308
  12. [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. [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. [14] H. J. Sussmann: Lie brackets, real analyticity and geometric control, Differential Geometric Control Theory, Brockett, Millman, Sussmann Eds, Birkhäuser, 1982. Zbl0545.93002MR708500
  15. [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. 

Citations in EuDML Documents

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  1. Mohamad Cheaito, Piotr Mormul, Rank-2 distributions satisfying the Goursat condition: all their local models in dimension 7 and 8
  2. Mohamad Cheaito, Piotr Mormul, Rank-2 distributions satisfying the Goursat condition : all their local models in dimension 7 and 8
  3. Piotr Mormul, Geometric classes of Goursat flags and the arithmetics of their encoding by small growth vectors
  4. Shun-Jie Li, Witold Respondek, Flat outputs of two-input driftless control systems
  5. Shun-Jie Li, Witold Respondek, Flat outputs of two-input driftless control systems
  6. Shun-Jie Li, Witold Respondek, Flat outputs of two-input driftless control systems

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