Abstract
While planning motion of any system, it is desirable to have a reliable and possibly analytic method to perform the task. Usually the analytic (or almost analytic) methods are not offered for general systems but are available for their special subclasses (flat, nilpotent, in a chain form). Therefore a quite impressive amount of work has been done towards transforming a given system into its easy-to-control equivalent. The transformations are usually local, i.e. valid in an open neighborhood of a given configuration. From a practical point of view, it is important not only to know whether such a local transformation exists but also how large the neighborhood is and what kind of equivalence between the original and the transformed systems is obtained.
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Dulȩba, I., Jagodziński, J. (2012). Practical Efficiency Evaluation of a Nilpotent Approximation for Driftless Nonholonomic Systems. In: Kozłowski, K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London. https://doi.org/10.1007/978-1-4471-2343-9_24
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DOI: https://doi.org/10.1007/978-1-4471-2343-9_24
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