Publication detail

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

BARTOŇOVÁ, L.

Original Title

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

English Title

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

Type

conference paper

Language

en

Original Abstract

We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.

English abstract

We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.

Keywords

Nonholonomic kinematics, Local control, Snake robot, Sub-Riemannian distance

Released

01.02.2018

Publisher

Springer International Publishing AG

Location

Switzerland

ISBN

978-3-319-76072-8

Book

Modelling and Simulation for Autonomous Systems

Edition

Lecture Notes in Computer Science

Edition number

1

Pages from

193

Pages to

203

Pages count

11

BibTex


@inproceedings{BUT157505,
  author="Ludmila {Bartoňová}",
  title="Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance",
  annote="We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.",
  address="Springer International Publishing AG",
  booktitle="Modelling and Simulation for Autonomous Systems",
  chapter="157505",
  doi="10.1007/978-3-319-76072-8_14",
  edition="Lecture Notes in Computer Science",
  howpublished="online",
  institution="Springer International Publishing AG",
  year="2018",
  month="february",
  pages="193--203",
  publisher="Springer International Publishing AG",
  type="conference paper"
}