Overview
Part of the book series: The Springer International Series in Engineering and Computer Science (SECS, volume 192)
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Table of contents (11 chapters)
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Front Matter
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Back Matter
Keywords
About this book
Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves.
Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Editors and Affiliations
Bibliographic Information
Book Title: Nonholonomic Motion Planning
Editors: Zexiang Li, J. F. Canny
Series Title: The Springer International Series in Engineering and Computer Science
DOI: https://doi.org/10.1007/978-1-4615-3176-0
Publisher: Springer New York, NY
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eBook Packages: Springer Book Archive
Copyright Information: Springer Science+Business Media New York 1993
Hardcover ISBN: 978-0-7923-9275-0Published: 31 October 1992
Softcover ISBN: 978-1-4613-6392-7Published: 30 October 2012
eBook ISBN: 978-1-4615-3176-0Published: 06 December 2012
Series ISSN: 0893-3405
Edition Number: 1
Number of Pages: XV, 448
Topics: Robotics and Automation, Control, Robotics, Mechatronics, Computer Imaging, Vision, Pattern Recognition and Graphics, Artificial Intelligence, Electrical Engineering