Title :
On an automatic generation of nilpotent systems
Author_Institution :
Inst. of Comput. Eng., Control & Robot., Wroclaw Univ. of Technol., Wroclaw, Poland
Abstract :
In this paper a detailed description of constructive algorithms aimed at generating controllable nilpotent systems is presented. Exemplary nilpotent systems with varied degree of nilpotency, number of generators and state space dimensionality are provided. Some combinatorial questions concerning a structure of the systems are stated and answered. Nilpotent systems can serve as useful models for practical and benchmark problems in control and motion planning tasks.
Keywords :
Lie algebras; controllability; path planning; vectors; constructive algorithms; control task; controllable nilpotent systems; motion planning task; nilpotency degree; Abstracts; Algorithm design and analysis; Generators; Indexes; Polynomials; Vectors;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6669922
