Abstract
In this paper some parameterizations of controls are examined in a Lie algebraic method of motion planning for driftless nonholonomic systems. The purpose of the examination is to establish how numerous the parameterization should be and which items of a harmonic basis are to be included into the parameterization. An algorithm is presented to evaluate parameterizations without (or reduced) impact of a local, desired direction of motion.
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Duleba, I., Mielczarek, A. (2020). Evaluation of Parameterizations in Local Lie-Algebraic Motion Planning. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_78
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DOI: https://doi.org/10.1007/978-3-030-50936-1_78
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