CDC
2010
IEEE
13 years 2 months ago
2010
IEEE
We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the ...
JNS
2008
13 years 7 months ago
2008
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to de...