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• W2090617059 abstract "The left-invariant sub-Riemannian problem on the Engel group is considered. The problem gives the nilpotent approximation to generic nonholonomic systems in four-dimensional space with two-dimensional control, for instance to a system which describes motion of mobile robot with a trailer. The global optimality of extremal trajectories is studied via geometric control theory. The global diffeomorphic structure of the exponential mapping is described. As a consequence, the cut time is proved to be equal to the first Maxwell time corresponding to discrete symmetries of the exponential mapping." @default.
• W2090617059 created "2016-06-24" @default.
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• W2090617059 date "2014-08-28" @default.
• W2090617059 modified "2023-10-03" @default.
• W2090617059 title "Cut time in sub-Riemannian problem on Engel group" @default.
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• W2090617059 doi "https://doi.org/10.48550/arxiv.1408.6651" @default.
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