Abstract
In this paper we study the problem of the car with n trailers. We compute by induction the degree of nonholonomy in every state and obtain a partition of the singular set by this degree of nonholonomy. We give also for each strata a set of vector fields in the Lie Algebra of the control system which makes a basis of the tangent space.
| Original language | English |
|---|---|
| Pages (from-to) | 3869-3870 |
| Number of pages | 2 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| Publication status | Published - 1 Dec 1995 |
| Event | Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA Duration: 13 Dec 1995 → 15 Dec 1995 |
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