We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility syst...

in this paper, the matsumoto metric with special ricci tensor has been investigated. it is proved that, if  is ofpositive (negative) sectional curvature and f is of  -parallel ricci curvature with constant killing 1-form ,then (m,f) is a riemannian einstein space. in fact, we generalize the riemannian result established by akbar-zadeh.

Let M be a complete, connected, two-dimensional Riemannian manifold with nonpositive Gaussian curvature K. We say that M satisfies the unrestricted complete controllability (UCC) property for the Dubins problem if the following holds: given any (p1, v1) and (p2, v2) in TM , there exists, for every ε > 0, a curve γ in M , with geodesic curvature smaller than ε, such that γ connects p1 to p2 and,...