Lie-bracket based dexterity measure for driftless nonholonomic systems
نویسنده
چکیده
Abstract In this paper a dexterity measure is proposed for driftless nonholonomic systems. Admissible motions at a given state of a nonholonomic system are described by the controllability (Lie) algebra of the system. The algebra is completely described by Lie monomials (vector fields) produced by the Lie bracketing of vector fields associated with the system. At a given state, the nonholonomic dexterity measure selects such a set of vector fields, evaluated at that point, that preserves full motion ability of the system minimizing, at the same time, energy expenditure on controls used to steer the system along the selected vector fields.
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