Geometric control theory of vertical rolling disc using symmetries

2019/08/09 by Jaroslav Hrdina, Hrdina, Jaroslav, Ales Navrat +5
Computer Science · Engineering · Mathematics · #22E60 #37J60 #53C17 #70Q05 #Control and Dynamics of Mobile Robots #Differential Geometry (math.DG) #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Robotic Path Planning Algorithms #math.DG #msc:22E60 #msc:37J60 #msc:53C17 #msc:70Q05

paper · pdf · doi:10.48550/arxiv.1908.03352

arxiv created 2019/08/09 · openalex publication_date 2019/08/09 · arxiv updated 2019/08/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We use the methods of geometric control theory to study extremal trajectories of vertical rolling disk. We focus on the role of symmetries of the underlying geometric structures. We demonstrate the computations in the CAS Maple package DifferentialGeometry.

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