MOTION PLANNING AND DIFFERENTIAL FLATNESS
Cutberto Romero-Melendez
We study the motion planning problem for the non-
holonome car-like a robot whit a trailer and for a un-
der actuated vibratory mechanical system by means of
the differential flatness and the sub-Rieamannian nilpo-
tent approximation approaches. We show
two techniques for the solution of the motion planning
problem.