In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.
@article{bwmeta1.element.bwnjournal-article-amcv21i3p525bwm,
author = {Ignacy Dul\k eba and Jacek Jagodzi\'nski},
title = {Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems},
journal = {International Journal of Applied Mathematics and Computer Science},
volume = {21},
year = {2011},
pages = {525-534},
zbl = {1234.93042},
language = {en},
url = {http://dml.mathdoc.fr/item/bwmeta1.element.bwnjournal-article-amcv21i3p525bwm}
}
Ignacy Dulęba; Jacek Jagodziński. Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems. International Journal of Applied Mathematics and Computer Science, Tome 21 (2011) pp. 525-534. http://gdmltest.u-ga.fr/item/bwmeta1.element.bwnjournal-article-amcv21i3p525bwm/
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