A controllability test and motion planning primitives for overconstrained vehicles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2716-2722

  Murphey, T D ^a   Burdick, J W ^a  

^a California Institute of Technology   (United States)

Author keywords

Controllability; Motion planning; Overconstrained wheeled vehicles; Switched systems

Indexed keywords

CONSTRAINT THEORY; GROUND VEHICLES; MOTION PLANNING; SWITCHING SYSTEMS; VEHICLE WHEELS;

OVERCONSTRAINED VEHICLES;

MOBILE ROBOTS;

EID: 0034861524     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Nonholonomic mechanical systems with symmetry
2. Nonholonomic control systems: From steering to stabilization with sinusoids
3. On the kinematics of wheeled vehicles
4. Controllability of kinematic control systems on stratified configuration spaces
5. Issues in controllability and motion planning for overconstrained wheeled vehicles