Mobile robots did not wait to know that they were nonholonomic to plan and execute their
motions autonomously. It is interesting to notice that the first navigation systems have been …

Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …

This paper considers the problem of motion planning for a car-like robot (ie, a mobile robot
with a nonholonomic constraint whose turning radius is lower-bounded). We present a fast …

In this paper we put forward a framework that integrates features of reactive planning models
with modern control-theory-based approaches to motion control of robots. We introduce a …

A natural and well-studied problem in algorithmic graph theory and network optimization is
that of computing a\shortest path" between two nodes, s and t, in a graph whose edges …

Develops the machinery of exterior differential forms, more particularly the Goursat normal
form for a Pfaffian system, for solving nonholonomic motion planning problems, ie, motion …

This paper deals with the complete characterization of the shortest paths for a car-like robot.
Previous works have shown that the search for a shortest path may be limited to a simple …

We calculate the partition of the configuration space R/sup 2//spl times/S/sup 1/of a car-like
robot, only moving forwards, with respect to the type of the length optimal paths. This kind of …

Presents a geometry-based approach for multiple mobile robot motion coordination. The
problem is to coordinate the motions of several robots moving along fixed independent …

Presents a steering method for a car-like vehicle providing smooth paths subjected to
curvature constraints. We show how to integrate this steering method in a global motion …