"Nonholonomic Motion Planning" grew out of the Workshop on
Nonholonomic Motion Planning 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 geometres and applied mathematics.
The book is arranged around three chapter groups: controllability -
one of the key mathematical tools needed to study nonholonomic
motion; motion planning for mobile robots - focusing on problems
with nonholonomic velocity constraints as well as constraints on
the generalized co-ordinates; and 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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