Detail publikace

Nilpotent approximation of a trident snake robot controlling distribution

HRDINA, J. MATOUŠEK, R. NÁVRAT, A. VAŠÍK, P.

Originální název

Nilpotent approximation of a trident snake robot controlling distribution

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.

Klíčová slova

robotic snake, local control, nilpotent approximation

Autoři

HRDINA, J.; MATOUŠEK, R.; NÁVRAT, A.; VAŠÍK, P.

Vydáno

1. 12. 2017

Nakladatel

UTIA

Místo

Prague

ISSN

0023-5954

Periodikum

Kybernetika

Ročník

53

Číslo

6

Stát

Česká republika

Strany od

1118

Strany do

1130

Strany počet

13

URL

https://www.kybernetika.cz/content/2017/6/1118

BibTex

@article{BUT143990,
  author="Jaroslav {Hrdina} and Radomil {Matoušek} and Aleš {Návrat} and Petr {Vašík}",
  title="Nilpotent approximation of a trident snake robot controlling distribution",
  journal="Kybernetika",
  year="2017",
  volume="53",
  number="6",
  pages="1118--1130",
  doi="10.14736/kyb-2017-6-1118",
  issn="0023-5954",
  url="https://www.kybernetika.cz/content/2017/6/1118"
}