The rolling problem: overview and challenges
Optimization and Control
2015-08-13 v1 Differential Geometry
Abstract
In the present paper we give a historical account -ranging from classical to modern results- of the problem of rolling two Riemannian manifolds one on the other, with the restrictions that they cannot instantaneously slip or spin one with respect to the other. On the way we show how this problem has profited from the development of intrinsic Riemannian geometry, from geometric control theory and sub-Riemannian geometry. We also mention how other areas -such as robotics and interpolation theory- have employed the rolling model.
Cite
@article{arxiv.1301.6370,
title = {The rolling problem: overview and challenges},
author = {Yacine Chitour and Mauricio Godoy Molina and Petri Kokkonen},
journal= {arXiv preprint arXiv:1301.6370},
year = {2015}
}
Comments
20 pages