A Class of Explicitly Solvable Vehicle Motion Problems
- Submitting institution
-
London South Bank University
- Unit of assessment
- 12 - Engineering
- Output identifier
- 155492
- Type
- D - Journal article
- DOI
-
10.1109/TRO.2015.2426471
- Title of journal
- IEEE Transactions on Robotics
- Article number
- -
- First page
- 766
- Volume
- 31
- Issue
- 3
- ISSN
- 1552-3098
- Open access status
- Out of scope for open access requirements
- Month of publication
- June
- Year of publication
- 2015
- URL
-
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7109168
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
0
- Research group(s)
-
B - Cognitive Systems Research Centre
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This paper gives the first classification of Lie Triple Systems in the Lie algebra of the group of rigid-body displacements. These systems were shown to be important for robot kinematics due to their association with symmetric subspaces of the group of rigid-body displacements. The paper introduces another application to robotics, it is shown how these structures lead to optimal motions for vehicles. Here vehicles are left-invariant systems on the group. This definition includes many systems of interest in robotics including cars and Bishop motions. A system that has not been studied previously in the literature is also introduced and explored.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -