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A time-periodic Lyapunov approach for motion planning of controllable driftless systems on SU(n).
Hector Bessa Silveira
Paulo Sérgio Pereira da Silva
Pierre Rouchon
Published in:
CDC (2009)
Keyphrases
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motion planning
mechanical systems
mobile robot
robotic arm
path planning
degrees of freedom
multi robot
stability analysis
trajectory planning
robot arm
viewpoint
inverse kinematics
real time
belief space
control law
potential field
autonomous mobile robot