TY - GEN
A1 - Dulęba, Ignacy
A1 - Jagodziński, Jacek
A2 - Korbicz, Józef - red.
A2 - Uciński, Dariusz - red.
PB - Zielona Góra: Uniwersytet Zielonogórski
N2 - In this paper, an extension of the Lafferriere?Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.
L1 - http://zbc.uz.zgora.pl/Content/46937/AMCS_2011_21_3_11.pdf
L2 - http://zbc.uz.zgora.pl/Content/46937
KW - control
KW - nilpotent system
KW - algorithms
KW - motion representation
T1 - Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
UR - http://zbc.uz.zgora.pl/dlibra/docmetadata?id=46937
ER -