Robotics Research Technical Report: Smooth Time-Periodic Feedback Solutions for Non-Holonomic Motion Planning (Classic Reprint) - Hardcover

L. Gurvits

9780656169412: Robotics Research Technical Report: Smooth Time-Periodic Feedback Solutions for Non-Holonomic Motion Planning (Classic Reprint)

Hardcover

ISBN 10: 0656169419 ISBN 13: 9780656169412

Publisher: Forgotten Books, 2018

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Explore practical ways to steer complex robots safely and smoothly.

This technical report introduces a time‑periodic feedback approach to nonholonomic motion planning, offering robust, collision‑free paths that work in real time. With averaging techniques and a constructive algorithm, it connects theory to implementable steps for real robotic systems.

Nonholonomic constraints can complicate motion planning. The work outlines a four‑step feedback algorithm, starting from collision‑free holonomic paths and ending with time‑periodic controls that remain robust to modeling and sensing errors. It blends geometric insight with practical guidance, including examples and generalizations to higher‑order systems.
What you’ll find inside

A step‑by‑step algorithm to compute smooth, collision‑free controls for nonholonomic robots
How averaging techniques yield tractable, real‑time behavior for fast control directions
Extensions to more complex systems and discussions of controllability and holonomy
A concrete example using a rolling disk to illustrate the method

Ideal for readers of advanced robotics, control theory, and research in motion planning who want a concrete, implementable approach to time‑periodic feedback in nonholonomic settings.

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