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A motion planning algorithm for the rolling-body problem

Abstract : In this paper, we consider the control system Σ defined by the rolling of a stricly convex surface S on a plane without slipping or spinning. It is well known that Σ is completely controllable. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Σ, which is based on a continuation method. The performances of that algorithm, both in robustness and convergence speed, are illustrated through two examples rolling of a flattened ball and an egg on the plane. ©2009 IEEE.
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https://hal.archives-ouvertes.fr/hal-02320810
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Submitted on : Saturday, October 19, 2019 - 3:21:22 PM
Last modification on : Saturday, May 1, 2021 - 3:41:37 AM

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F. Alouges, Yacine Chitour, Ruixing Long. A motion planning algorithm for the rolling-body problem. 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Dec 2009, Shanghai, China. pp.2112-2116, ⟨10.1109/CDC.2009.5400393⟩. ⟨hal-02320810⟩

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