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G-Snakes: Nonholonomic Kinematic Chains on Lie Groups
(1994)
We consider kinematic chains evolving on a finite-dimensional Lie group G under nonholonomic constraints, where snake-like global motion is induced by shape variations of the system. In particular, we consider the case ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups
(1994)
In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (e) amplitude, low-frequency, ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm
(1994)
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...