Geodesic
Nilpotent approximation of a trident snake robot controlling distribution
Kybernetika, Tome 53 (2017) no. 6, pp. 1118-1130
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We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.
We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.
DOI : 10.14736/kyb-2017-6-1118
Classification : 93B27
Keywords: robotic snake; local control; nilpotent approximation 
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     journal = {Kybernetika},
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Hrdina, Jaroslav; Matoušek, Radomil; Návrat, Aleš; Vašík, Petr. Nilpotent approximation of a trident snake robot controlling distribution. Kybernetika, Tome 53 (2017) no. 6, pp. 1118-1130. doi: 10.14736/kyb-2017-6-1118

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