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Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

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Book cover Modelling and Simulation for Autonomous Systems (MESAS 2017)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 10756))

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Abstract

We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.

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Acknowledgement

The research was supported by a grant no. FSI-S-17-4464.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Ludmila Bartoňová

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  1. Ludmila Bartoňová
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Correspondence to Ludmila Bartoňová .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

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Bartoňová, L. (2018). Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2017. Lecture Notes in Computer Science(), vol 10756. Springer, Cham. https://doi.org/10.1007/978-3-319-76072-8_14

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  • DOI: https://doi.org/10.1007/978-3-319-76072-8_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-76071-1

  • Online ISBN: 978-3-319-76072-8

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