In this paper, we show how ihe machinery of ederior differential sysiemr can k wed i o help soltie nonholonomic motion planning problems. Since the Gorrsat normal form for ezterior differential systems is dual i o chained form for vectorfields, we solve the problem of steering a mobile robot with n trailers by convcriing ihe system int.0 chained form, doing ihe paih-planning in the chained form...

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function...

This paper presents a decentralized motion planner for a formation of autonomous mobile robots evolving in an unknown environment with obstacles. The motion planning scheme consists of decentralized receding horizon planners that reside on each vehicle to achieve coordination among formation agents. The advantage of the proposed algorithm is that each vehicle only requires local knowledge of it...

Dextrous manipulation is a problem of paramount importance in the study of multi ngered robotic hands. Given a grasped object, the main objectives are: (a) generate trajectories for the nger joints so that through the e ects of contact constraints, the object can be transferred to a goal grasp con guration; and (b) derive control algorithms to realize planned trajectories. In this paper, we int...

This paper deals with nonholonomic motion planning including obstacle avoidance capabilities. We show that the methods developed in absence of obstacles can be extended to the problem of obstacle avoidance, provided that they verify a topological property. Such steering methods allow us to design exact and complete collision-free path planners for a large family of systems. We show that the ste...

This Paper addresses the problem of nonholonomic motion planning for a bi-steerable car. The kinematic speci city of this system is the turning of its rear wheels as a function of the steering angle of the front wheels. The bi-steerable car was shown to be at. The aim of this work is to present its linearizing outputs. The computation of these outputs is the major step that allows us to propose...

One of the most important problems in robotics is motion planning problem, which its basic controversy is to plan a collision-free path between initial and target configurations for a robot. In the framework of motion planning for nonholonomic systems, the wheeled robots have attracted a significant amount of interest. The path planner of a wheeled autonomous robot has to meet nonholonomic cons...