Asymptotics of motion planning complexity for control-affine systems
Dynamical Systems
2026-01-09 v3 Optimization and Control
Abstract
In this paper, we study the complexity of the approximation of nonadmissible curves for nonlinear control-affine systems satisfying the strong H{\"o}rmander condition. Focusing on tubular approximation complexities, we provide asymptotic equivalences, with explicit constants, for all generic situations where the distribution, i.e., the linear part of the control system, is of co-rank one. Namely, we consider curves in step 2 distributions and any dimension. In the 3 dimensional case, we also consider the case of distributions with Martinet-type singularities that are crossed by the curve at isolated points.
Cite
@article{arxiv.2511.17130,
title = {Asymptotics of motion planning complexity for control-affine systems},
author = {Michele Motta and Dario Prandi},
journal= {arXiv preprint arXiv:2511.17130},
year = {2026}
}