A catalog of inverse-kinematics planners for underactuated systems on matrix Lie groups
نویسندگان
چکیده
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inversekinematic problems. We present a catalog of solutions for all underactuated systems on SE(2), SO(3) and SE(2) × R classified according to their controllability properties.
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