Abstract
In this paper we use a nonholonomic affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. The class of nonholonomic systems we study in this paper includes, in particular, wheeled-type vehicles, which are important for many robotic locomotion systems. We illustrate our ideas by considering a simple example on a three-dimensional manifold
Full Text
Paper version not known
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call