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Controllability of Mobile Robots with Kinematic Constraints

TitleControllability of Mobile Robots with Kinematic Constraints
Publication TypeTechnical Report
Year of Publication1992
AuthorsBarraquand, J, Latombe, J-C
Date Published01/1992
Publication Languageeng
KeywordsCenter for Integrated Facility Engineering, CIFE, Controllability, Robot Systems, Stanford University
AbstractWe address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are non-linear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to non-integrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system. For example, we show that: 1) An n-body car system, which consists of a car towing n — 1 trailers, is controllable for n
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