Motion planning for non-holonomic systems
Fréderic Jean
Enseignant Chercheur
ENSTA
Abstract: The goal of this course is to consider the motion planning problem for non-holonomic systems by means of a geometric approach. In particular, we will introduce sub-riemannian geometry, which is the underlying geometry on non-holonomic control systems, playing the same role that the Euclidean geometry plays in the study of linear systems. One of the goals of this course is to show how a deep understanding of the metric structure of sub-riemannian manifolds, and in particular their tangent metric structure, allows to deal with control problems for non-holonomic systems.
Lecture notes avaliable here.