Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group.
Claudio AltafiniRuggero FrezzaPublished in: Syst. Control. Lett. (2003)
Keyphrases
- lie group
- control system
- lie algebra
- infinite dimensional
- parameter space
- euclidean space
- vector space
- riemannian manifolds
- vector field
- geometric structure
- mean shift
- linear transformation
- covariance matrices
- rigid motion
- motion planning
- mobile robot
- lagrange multipliers
- tensor field
- control law
- finite dimensional
- optical flow
- low dimensional
- constrained optimization
- point correspondences
- covariance matrix
- distance measure