Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method

In this paper, a Lie-algebraic nonholonomic motion planning technique, originally designed to work in a configuration space, was extended to plan a motion within a task-space resulting from an output function considered. In both planning spaces, a generalized Campbell–Baker–Hausdorff–Dynkin formula...

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Autores principales: Arkadiusz Mielczarek, Ignacy Dulęba
Formato: article
Lenguaje:EN
Publicado: MDPI AG 2021
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Acceso en línea:https://doaj.org/article/39a31b9ee9fb4ac6af023e0e7072ee56
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