Title: From controllability to motion planning for mechanical systems (9 pages)
Detail: 3rd International DCDIS Conference on Engineering Applications and Computational Algorithms, Guelph, ON, 2003/05/16

Understanding controllability properties for mechanical systems has progressed to the point that now this understanding can be put to use to design simple, effective motion control algorithms. In this talk, the bridge between my own work on controllability and the work of Bullo and Lynch on motion planning will be provided. Simple, but nontrivial, examples provide an illustration of just how far the theory has progressed.

No online version avaliable.

Andrew D. Lewis (andrew at mast.queensu.ca)