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A note on nonholonomic systems
(Sociedade Brasileira de Física, 2009)
This note describes a question that deals with nonholonomic systems, a subject that has been gradually fading away from textbooks and even treated somewhat incorrectly as holonomic.
Self-propulsion of N-hinged 'Animats' at low Reynolds number
(2003)
Optimal locomotion of micro-organisms (on a small Reynolds number flow) can be regarded as a sub-riemannian geometry on a principal bundle with a mechanical connection. Aiming at robotic applications, flagella are modeled ...
Desenvolvimento de estratégias de controle para rastreamento e estabilização de sistemas não-holonômicos
(Universidade Federal de Minas GeraisUFMG, 2004-03-14)
The main practical problem that motivates the development of this thesis was the necessity to control autonomous vehicles with nonholonomic constraints. Nonholonomic systems constitute a system class with special ...
Resultados experimentais em controle de formação baseado em funções potenciaisExperimental results in formation control based on potential functions
(Universidade Federal do Rio de JaneiroBrasilEscola PolitécnicaUFRJ, 2022)
Sistema de navegação para robôs móveis autônomos
(Universidade Federal do Rio Grande do NorteBRUFRNPrograma de Pós-Graduação em Engenharia ElétricaAutomação e Sistemas; Engenharia de Computação; Telecomunicações, 2001-08-31)
The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an ...
Nonholonomic systems via moving frames: cartan equivalence and chaplygin hamiltonization
(2005)
A nonholonomic system, for short “NH,’’ consists of a configuration space Qn, a Lagrangian L(q, q, t), a nonintegrable constraint distribution H ⊂ TQ, with dynamics governed by Lagrange-d’Alembert’s principle. We present ...