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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

Produktform: E-Buch Text Elektronisches Buch in proprietärem

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.weiterlesen

Dieser Artikel gehört zu den folgenden Serien

Elektronisches Format: PDF

Sprache(n): Englisch

ISBN: 978-3-319-08690-3 / 978-3319086903 / 9783319086903

Verlag: Springer International Publishing

Erscheinungsdatum: 17.07.2014

Seiten: 104

Autor(en): Frédéric Jean

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