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.

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