Publication detail

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

BARTOŇOVÁ, L.

Original Title

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

Type

conference paper

Language

English

Original Abstract

We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.

Keywords

Nonholonomic kinematics, Local control, Snake robot, Sub-Riemannian distance

Authors

BARTOŇOVÁ, L.

Released

1. 2. 2018

Publisher

Springer International Publishing AG

Location

Switzerland

ISBN

978-3-319-76072-8

Book

Modelling and Simulation for Autonomous Systems

Edition

Lecture Notes in Computer Science

Edition number

1

ISBN

0302-9743

Periodical

Lecture Notes in Computer Science

Year of study

10756

State

Federal Republic of Germany

Pages from

193

Pages to

203

Pages count

11

BibTex

@inproceedings{BUT157505,
  author="Ludmila {Bartoňová}",
  title="Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2018",
  series="Lecture Notes in Computer Science",
  journal="Lecture Notes in Computer Science",
  volume="10756",
  number="1",
  pages="193--203",
  publisher="Springer International Publishing AG",
  address="Switzerland",
  doi="10.1007/978-3-319-76072-8\{_}14",
  isbn="978-3-319-76072-8",
  issn="0302-9743"
}