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- W2897544978 abstract "The generalized Campbell-Baker-Hausdorff-Dynkin formula is a powerful tool in nonholonomic motion planning. It allows to construct a map from controls to displacements in a configuration space, primarily hidden behind differential equations. The formula is complex in its basic form and also when driftless nonholonomic systems substitute a general (even nonautonomous) form. Therefore it needs to be simplified to be useful. In this paper its pre-control form will be the main subject. The pre-control form means that the mapping is from general controls (not in a parametric form) to local configuration shifts. In this paper it will be proven that coefficients of the pre-control form satisfy a nice property. An algorithm will also be presented to compute coefficients of pre-control form much faster than algorithms designed for this task and known in the robotic literature. Appropriate simulation comparisons will be provided." @default.
- W2897544978 created "2018-10-26" @default.
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- W2897544978 date "2018-08-01" @default.
- W2897544978 modified "2023-10-17" @default.
- W2897544978 title "Theoretical and Algorithmic Aspects of Generating Pre-Control form of the gCBHD Formula" @default.
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- W2897544978 doi "https://doi.org/10.1109/mmar.2018.8486032" @default.
- W2897544978 hasPublicationYear "2018" @default.
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