NONHOLONOMIC SYSTEMS - CONTROLLABILITY AND COMPLEXITY

Authors
LAUMOND JP RISLER JJ
Citation
Jp. Laumond et Jj. Risler, NONHOLONOMIC SYSTEMS - CONTROLLABILITY AND COMPLEXITY, Theoretical computer science, 157(1), 1996, pp. 101-114
Citations number
31
Categorie Soggetti
Computer Sciences","Computer Science Theory & Methods
Journal title
Theoretical computer science → ACNP
ISSN journal
03043975
Volume
157
Issue
1
Year of publication
1996
Pages
101 - 114
Database
ISI
SICI code
0304-3975(1996)157:1<101:NS-CAC>2.0.ZU;2-8
Abstract
This paper presents a survey of recent combinatorial results arising i n the study of nonholonomic control systems. It addresses the question of deciding whether a system is controllable or not. Basic concepts i n differential geometric control theory are first introduced and illus trated through the classical example of a multibody mobile robot. We t hen summarize recent results obtained on polynomial systems.