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The Springer International Series in Engineering and Computer Science

Nonholonomic Motion Planning

Editors: Zexiang Li, Canny, J.F. (Eds.)

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About this book

Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians.
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.

Table of contents (11 chapters)

  • Non-holonomic Kinematics and the Role of Elliptic Functions in Constructive Controllability

    Brockett, R. W. (et al.)

    Pages 1-21

  • Steering Nonholonomic Control Systems Using Sinusoids

    Murray, Richard M. (et al.)

    Pages 23-51

  • Smooth Time-Periodic Feedback Solutions for Nonholonomic Motion Planning

    Gurvits, L. (et al.)

    Pages 53-108

  • Lie Bracket Extensions and Averaging: The Single-Bracket Case

    Sussmann, H├ęctor J. (et al.)

    Pages 109-147

  • Singularities and Topological Aspects in Nonholonomic Motion Planning

    Laumond, Jean-Paul

    Pages 149-199

Buy this book

eBook $74.99
price for USA (gross)
  • ISBN 978-1-4615-3176-0
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $99.00
price for USA
  • ISBN 978-1-4613-6392-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Nonholonomic Motion Planning
Editors
  • Zexiang Li
  • J.F. Canny
Series Title
The Springer International Series in Engineering and Computer Science
Series Volume
192
Copyright
1993
Publisher
Springer US
Copyright Holder
Springer Science+Business Media New York
eBook ISBN
978-1-4615-3176-0
DOI
10.1007/978-1-4615-3176-0
Softcover ISBN
978-1-4613-6392-7
Series ISSN
0893-3405
Edition Number
1
Number of Pages
XV, 448
Topics