A Continuation Method for Nonholonomic Path-finding Problems
نویسنده
چکیده
In this note we study the mathematical theory of one particular algorithm for nonholonomic point-to-point path nding. The algorithm considered here is a \continuation" or \deformation" method, in which one starts with an admissible trajectory that goes from the desired initial point p to some point q0, and then tries to construct a one-parameter family of trajectories, whose terminal points qs describe, as s varies, a path that joins q0 to the desired terminal point q.
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