Motion planning and control problems for underactuated robots
最优化与控制
2007-05-23 v1 微分几何
摘要
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine connections and of geometric control theory. In this paper we overview recent results on kinematic controllability and on oscillatory controls. Furthermore, we discuss theoretical and practical open problems as well as we suggest control theoretical approaches to them.
引用
@article{arxiv.math/0209213,
title = {Motion planning and control problems for underactuated robots},
author = {Sonia Martinez and Jorge Cortes and Francesco Bullo},
journal= {arXiv preprint arXiv:math/0209213},
year = {2007}
}
备注
16 pages, 5 figures, to appear as a book chapter in the Advanced Robotics Series, Springer-Verlag