A catalog of inverse-kinematics planners for underactuated systems on matrix groups

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dc.creatorMartinez, Sonia
dc.creatorCortes, Jorge
dc.creatorBullo, Francesco
dc.date2003-05-01
dc.date.accessioned2026-07-07T04:57:38Z
dc.date.available2026-07-07T04:57:38Z
dc.descriptionThis paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We present a catalog of solutions for all underactuated systems on $\SE{2}$, $\SO{3}$ and $\SE{2}\times\real$ classified according to their controllability properties.
dc.description8 pages, double column, 3 figures
dc.identifierhttps://arxiv.org/abs/math/0305003
dc.identifierhttp://arxiv.org/abs/math/0305003
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/67327
dc.subjectOptimization and Control
dc.subject70Q05; 70B15; 70G65
dc.titleA catalog of inverse-kinematics planners for underactuated systems on matrix groups
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