LaTeX2e, 23 pages, 4 figuresWe propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. This construction converts the nonholonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equations), which we illustrate by steering the two-trailer system in a neighborhood of singular configurations. We show also that the n-trailer system is a universal local model for all Goursat structures and that all Goursat structures are locally nilpotentizable
International audienceWe propose a kinematic model of a system moving in $\mathbb{R}^{m+1}$ and cons...
This paper develops a constructive method for finding a nilpotent basis for a special class of smoot...
In this paper we address the general problem of approximating, in a certain optimal way, non admissi...
In this paper, we develop the machinery of exterior differential forms, more particularly the Goursa...
Develops the machinery of exterior differential forms, more particularly the Goursat normal form for...
. The theme of this paper is the generalization of Goursat normal forms for Pfaffian systems with co...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
Abstract In this paper we study the problem of the car with n trailers It was proved in previous wo...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
In this paper we study the problem of the car with N trailers. It was proved in previous works ([9]...
This paper addresses the stabilization of postures (or configurations) for the general N-trailer sys...
Existing methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentiza...
International audienceIn this paper, we extend the globally convergent steering algorithm for regula...
(Working paper) A multibody car system is a non-nilpotent, non-regular, triangularizable and well-co...
. In this paper, the kinematic model of an autonomous mobile robot system consisting of a chain of s...
International audienceWe propose a kinematic model of a system moving in $\mathbb{R}^{m+1}$ and cons...
This paper develops a constructive method for finding a nilpotent basis for a special class of smoot...
In this paper we address the general problem of approximating, in a certain optimal way, non admissi...
In this paper, we develop the machinery of exterior differential forms, more particularly the Goursa...
Develops the machinery of exterior differential forms, more particularly the Goursat normal form for...
. The theme of this paper is the generalization of Goursat normal forms for Pfaffian systems with co...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
Abstract In this paper we study the problem of the car with n trailers It was proved in previous wo...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
In this paper we study the problem of the car with N trailers. It was proved in previous works ([9]...
This paper addresses the stabilization of postures (or configurations) for the general N-trailer sys...
Existing methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentiza...
International audienceIn this paper, we extend the globally convergent steering algorithm for regula...
(Working paper) A multibody car system is a non-nilpotent, non-regular, triangularizable and well-co...
. In this paper, the kinematic model of an autonomous mobile robot system consisting of a chain of s...
International audienceWe propose a kinematic model of a system moving in $\mathbb{R}^{m+1}$ and cons...
This paper develops a constructive method for finding a nilpotent basis for a special class of smoot...
In this paper we address the general problem of approximating, in a certain optimal way, non admissi...
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