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