On complexity and motion planning for co-rank one sub-Riemannian metrics

Cutberto Romero-Meléndez; Jean Paul Gauthier; Felipe Monroy-Pérez

ESAIM: Control, Optimisation and Calculus of Variations (2010)

  • Volume: 10, Issue: 4, page 634-655
  • ISSN: 1292-8119

Abstract

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In this paper, we study the motion planning problem for generic sub-Riemannian metrics of co-rank one. We give explicit expressions for the metric complexity (in the sense of Jean [CITE]), in terms of the elementary invariants of the problem. We construct asymptotic optimal syntheses. It turns out that among the results we show, the most complicated case is the 3-dimensional. Besides the generic C∞ case, we study some non-generic generalizations in the analytic case.

How to cite

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Romero-Meléndez, Cutberto, Gauthier, Jean Paul, and Monroy-Pérez, Felipe. "On complexity and motion planning for co-rank one sub-Riemannian metrics." ESAIM: Control, Optimisation and Calculus of Variations 10.4 (2010): 634-655. <http://eudml.org/doc/90748>.

@article{Romero2010,
abstract = { In this paper, we study the motion planning problem for generic sub-Riemannian metrics of co-rank one. We give explicit expressions for the metric complexity (in the sense of Jean [CITE]), in terms of the elementary invariants of the problem. We construct asymptotic optimal syntheses. It turns out that among the results we show, the most complicated case is the 3-dimensional. Besides the generic C∞ case, we study some non-generic generalizations in the analytic case. },
author = {Romero-Meléndez, Cutberto, Gauthier, Jean Paul, Monroy-Pérez, Felipe},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
keywords = {Motion planning problem; metric complexity; normal forms; asymptotic optimal synthesis.; motion planning problem; normal forms; asymptotic optimal synthesis},
language = {eng},
month = {3},
number = {4},
pages = {634-655},
publisher = {EDP Sciences},
title = {On complexity and motion planning for co-rank one sub-Riemannian metrics},
url = {http://eudml.org/doc/90748},
volume = {10},
year = {2010},
}

TY - JOUR
AU - Romero-Meléndez, Cutberto
AU - Gauthier, Jean Paul
AU - Monroy-Pérez, Felipe
TI - On complexity and motion planning for co-rank one sub-Riemannian metrics
JO - ESAIM: Control, Optimisation and Calculus of Variations
DA - 2010/3//
PB - EDP Sciences
VL - 10
IS - 4
SP - 634
EP - 655
AB - In this paper, we study the motion planning problem for generic sub-Riemannian metrics of co-rank one. We give explicit expressions for the metric complexity (in the sense of Jean [CITE]), in terms of the elementary invariants of the problem. We construct asymptotic optimal syntheses. It turns out that among the results we show, the most complicated case is the 3-dimensional. Besides the generic C∞ case, we study some non-generic generalizations in the analytic case.
LA - eng
KW - Motion planning problem; metric complexity; normal forms; asymptotic optimal synthesis.; motion planning problem; normal forms; asymptotic optimal synthesis
UR - http://eudml.org/doc/90748
ER -

References

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  10. F. Jean, Complexity of nonholonomic motion planning. Internat. J. Control74 (2001) 776-782.  
  11. F. Jean, Entropy and Complexity of a Path in Sub-Riemannian Geometry. ESAIM: COCV9 (2003) 485-508.  
  12. F. Jean and E. Falbel, Measures and transverse paths in Sub-Riemannian Geometry. J. Anal. Math.91 (2003) 231-246.  
  13. T. Kato, Perturbation theory for linear operators. Springer-Verlag (1966) 120-122.  
  14. I. Kupka, Géometrie sous-Riemannienne, in Séminaire Bourbaki, 48e année, No. 817 (1995-96) 1-30.  
  15. G. Lafferiere and H. Sussmann, Motion Planning for controllable systems without drift, in Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation (1991).  

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