Nilpotent approximation of a trident snake robot controlling distribution
Differential Geometry
2016-07-29 v1
Abstract
We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.
Cite
@article{arxiv.1607.08500,
title = {Nilpotent approximation of a trident snake robot controlling distribution},
author = {Jaroslav Hrdina and Ales Navrat and Petr Vasik},
journal= {arXiv preprint arXiv:1607.08500},
year = {2016}
}
Comments
10 pages, 7 figures