The motion planning problem: differential flatness and nilpotent approximation
This paper addresses the motion planning problem under two different view points: the flatness procedure and the nilpotent approximation along a reference nonadmissible curve. The application of these techniques is carried out for two cases study, namely, an under actuated vibratory mechanical system and the nonholonomic car-like robot with a trailer. A general theoretical framework is presented for each technique and detailed calculations are exhibited for the two cases under
consideration along with complementary numerical
CYBERNETICS AND PHYSICS, Vol. 2, No. 3, 133-142.