Nonholonomic Motion Planning
Nonholonomic Motion Planning by Zexiang Li, published by Springer US on October 30, 2012, is a softcover reprint of the original 1st edition from 1993, comprising 448 pages. This book emerged from a workshop held at the 1991 IEEE International Conference on Robotics and Automation and features contributed chapters that highlight recent advancements in the field of nonholonomic motion planning.
Readers will find a comprehensive exploration of key topics, including controllability, motion planning for mobile robots, and connections between symplectic geometry and control theory. The book is organized into three main chapter groups, addressing mathematical tools essential for studying nonholonomic motion, velocity constraints in robotics, and theoretical discussions illustrated through examples involving space robots and falling cats. Nonholonomic Motion Planning serves as both a reference for researchers in robotics and nonlinear control and a textbook for graduate-level courses in these areas.
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Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians.
Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves.
Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
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