| A Continuation Method For Nonholonomic Path-Finding Problems (1993) | |||||||||||||||
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| this paper is Theorem 5, which says precisely that under the SBG condition the PLE has global existence of solutions. The proof of Theorem 5 is based on a somewhat delicate estimate, proved in Theorem 4. 3 Basic definitions We consider driftless control systems of the form \Sigma : x = | |||||||||||||||
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