Optimal control of underactuated nonholonomic mechanical systems

IEEE Transactions on Automatic Control

Volumn 53, Issue 3, 2008, Pages 668-682

  Hussein, Islam I ^a   Bloch, Anthony M ^b  

^a WORCESTER POLYTECHNIC INSTITUTE   (United States)

^b UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Geometric techniques; Motion planning; Optimal control; Reduced optimality conditions

Indexed keywords

COLLISION AVOIDANCE; GEOMETRY; NAVIGATION; OPTIMAL CONTROL SYSTEMS; ROBOTICS;

NONHOLONOMIC SYSTEMS; UNDERACTUATED;

MOTION PLANNING;

EID: 42649130054     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2008.919853     Document Type: Article

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