Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus

Simple item page
dc.creatorPasillas-Lepine, William
dc.creatorRespondek, Witold
dc.date2000-04-19
dc.date.accessioned2026-07-07T04:34:48Z
dc.date.available2026-07-07T04:34:48Z
dc.descriptionWe propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. This construction converts the nonholonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equations), which we illustrate by steering the two-trailer system in a neighborhood of singular configurations. We show also that the n-trailer system is a universal local model for all Goursat structures and that all Goursat structures are locally nilpotentizable.
dc.descriptionLaTeX2e, 23 pages, 4 figures, submitted to International journal of control
dc.identifierhttps://arxiv.org/abs/math/0004125
dc.identifierhttp://arxiv.org/abs/math/0004125
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/59049
dc.subjectOptimization and Control
dc.subjectDifferential Geometry
dc.subject93B29 (Primary); 58A30 (Secondary)
dc.titleNilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus
dc.typetext

Files

Collections

arXiv