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It is shown that self-locomotion is possible for a body in euclidian space, provided its dynamics corresponds to a non-quadratic hamiltonian, and that the body contains at least 3 particles. The efficiency of the driver of such a system is defined. The existence of an optimal (most efficient) driver is proved.
@article{COCV_2007__13_4_657_0,
author = {Wolansky, Gershon},
title = {On the mobility and efficiency of mechanical systems},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
pages = {657--668},
publisher = {EDP-Sciences},
volume = {13},
number = {4},
year = {2007},
doi = {10.1051/cocv:2007034},
mrnumber = {2351396},
zbl = {1123.37027},
language = {en},
url = {http://geodesic.mathdoc.fr/articles/10.1051/cocv:2007034/}
}
TY - JOUR AU - Wolansky, Gershon TI - On the mobility and efficiency of mechanical systems JO - ESAIM: Control, Optimisation and Calculus of Variations PY - 2007 SP - 657 EP - 668 VL - 13 IS - 4 PB - EDP-Sciences UR - http://geodesic.mathdoc.fr/articles/10.1051/cocv:2007034/ DO - 10.1051/cocv:2007034 LA - en ID - COCV_2007__13_4_657_0 ER -
%0 Journal Article %A Wolansky, Gershon %T On the mobility and efficiency of mechanical systems %J ESAIM: Control, Optimisation and Calculus of Variations %D 2007 %P 657-668 %V 13 %N 4 %I EDP-Sciences %U http://geodesic.mathdoc.fr/articles/10.1051/cocv:2007034/ %R 10.1051/cocv:2007034 %G en %F COCV_2007__13_4_657_0
Wolansky, Gershon. On the mobility and efficiency of mechanical systems. ESAIM: Control, Optimisation and Calculus of Variations, Tome 13 (2007) no. 4, pp. 657-668. doi: 10.1051/cocv:2007034
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