The efficient utilization of the motion capabilities of mobile manipulators, Le., manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.0.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspeci...

This paper presents theoretical and experimental investigations in dynamic modeling and optimal path planning of a non-holonomic mobile robot in cluttered environments. A mobile robot in the presence of multiple obstacles was considered. Nonlinear dynamic model of the system was derived with respect to non-holonomic constraints of robot’s platform. Motion planning of the system was formulated a...

In this paper, we show how the non-holonomic control technique can be employed to build completely controlled quantum devices. Examples of such controlled structures are provided.

In this paper an optimal method for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non-holonomic constraints. Optimal control inputs and constraints in velocity space a...

Non-adiabatic holonomic quantum computation in decoherence-free subspaces protects quantum information from control imprecisions and decoherence. For the non-collective decoherence that each qubit has its own bath, we show the implementations of two non-commutable holonomic single-qubit gates and one holonomic nontrivial two-qubit gate that compose a universal set of non-adiabatic holonomic qua...

We study non-holonomic overideals of a (left) differential ideal J ⊂ F [dx, dy ] in two variables where F is a differentially closed field of characteristic zero. The main result states that a principal ideal J = 〈P 〉 generated by an operator P with a separable symbol symb(P ) (being a homogeneous polynomial in two variables) has a finite number of maximal non-holonomic overideals. This stateme...

This article is concerned with the theory of quasivelocities for non-holonomic systems. The equations of non-holonomic mechanics are derived using the Lagrange–d’Alembert principle written in an arbitrary configuration-dependent frame. The article also shows how quasivelocities may be used in the formulation of non-holonomic systems with symmetry. In particular, the use of quasivelocities in th...