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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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