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.

With the advance in the development and use of autonomous vehicles, it is necessary the development of techniques capable of generating efficient solutions to the many challenges related to the use of such vehicles. Among ...

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 ...

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 ...

This master thesis presents the whole-body control of a nonholonomic mobile manipulator using feedback linearization and dual quaternion algebra. The controller, whose reference is a unit dual quaternion representing the ...