Abstract
Smooth closed-form curves on the Lie group of rigid body motions are constructed via the De Casteljau algorithm. Due to the lack of a bi-invariant metric on SE(3), the resulting curve depends on the choice of the metric tensor. The two most common cases are analyzed.
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© 2001 Springer-Verlag London Limited
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Altafini, C. (2001). The de casteljau algorithm on SE(3). In: Isidori, A., Lamnabhi-Lagarrigue, F., Respondek, W. (eds) Nonlinear control in the Year 2000. Lecture Notes in Control and Information Sciences, vol 258. Springer, London. https://doi.org/10.1007/BFb0110205
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DOI: https://doi.org/10.1007/BFb0110205
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