Local Controllability and Motion Planning for Some Classes of Systems with Drift
نویسندگان
چکیده
We explain how some recent results on the design of controls for nonoholomic systems without drift can be extended to some classes of sytems with drift. In particular, we show that a dynamic extension of a driftless system that satisses the Lie algebra rank condition necessary satisses algebraic suucient conditions for small-time local controllability at all its equilibrium points.
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