Detail publikačního výsledku

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

BARTOŇOVÁ, L.

Originální název

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

Anglický název

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

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

BARTOŇOVÁ, L.

Rok RIV

2020

Vydáno

01.02.2018

Nakladatel

Springer International Publishing AG

Místo

Switzerland

ISBN

978-3-319-76072-8

Kniha

Modelling and Simulation for Autonomous Systems

Edice

Lecture Notes in Computer Science

ISSN

0302-9743

Periodikum

Lecture Notes in Computer Science

Svazek

10756

Stát

Spolková republika Německo

Strany od

193

Strany do

203

Strany počet

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"
}