Nilpotent approximation of a trident snake robot controlling distribution

2016/07/28 by Hrdina, Jaroslav, Navrat, Ales, Vasik, Petr
#93B27 #Differential Geometry (math.DG) #FOS: Mathematics

paper · doi:10.48550/arxiv.1607.08500

Abstract

We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.

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