Szczegóły Szczegóły PDF BIBTEX RIS Tytuł artykułu Impact of control representations on efficiency of local nonholonomic motion planning Tytuł czasopisma Bulletin of the Polish Academy of Sciences Technical Sciences Rocznik 2011 Wolumin 59 Numer No 2 Autorzy I. Duleba Wydział PAN Nauki Techniczne Zakres 213-218 Data 2011 Identyfikator DOI: 10.2478/v10175-011-0026-x ; ISSN 2300-1917 Źródło Bulletin of the Polish Academy of Sciences: Technical Sciences; 2011; 59; No 2; 213-218 Referencje Szrek J. (2010), Idea of wheel-legged robot and its control system, Bull. Pol. Ac.: Tech, 58, 1, 43. ; Duleba I. (1998), Algorithms of Motion Planning for Nonholonomic Robots. ; Reister D. (1991), Time-optimal trajectories for mobile robots with two independently driven wheels, Int. J. Robotics Research, 13, 1, 38, doi.org/10.1177/027836499401300103 ; Fernandez C. (1991), A variational approach to optimal nonholonomic motion planning, Proc. IEEE Conf. Robotics and Automat, 1, 680, doi.org/10.1109/ROBOT.1991.131662 ; LaValle S. (2006), Planning Algorithms, doi.org/10.1017/CBO9780511546877 ; Zieliński C. (2010), General specification of multi-robot control system structures, Bull. Pol. Ac.: Tech, 58, 1, 15. ; Tchon K. (2003), Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of jacobian inverse kinematics algorithms, Int. J. Control, 26, 14, 1387, doi.org/10.1080/0020717031000149942 ; Serre J-P. (1964), Lie Algebras and Lie Groups. ; Chow W. (1939), Über Systeme von linearen partiellen Differentialgleichungen erster Ordnung, Math. Annallen, 117, 1, 98, doi.org/10.1007/BF01450011 ; Strichartz R. (1987), The Campbell-Baker-Hausdorff-Dynkin formula and solutions of differential equations, J. Funct. Analysis, 72, 2, 320, doi.org/10.1016/0022-1236(87)90091-7 ; Duleba I. (2006), Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems, Systems & Control Letters, 55, 2, 146, doi.org/10.1016/j.sysconle.2005.06.006 ; Spong M. (1989), Robot Dynamics and Control. ; Belaiche A. (1993), Geometry of nonholonomic systems, Robot Motion Planning and Control, Lecture Notes in Control and Information Sciences, 229, 55, doi.org/10.1007/BFb0036071 ; Bertsekas D. (1999), Constrained Optimization and Lagrange Multiplier Methods. ; Nakamura Y. (1991), Advanced Robotics: Redundancy and Optimization.