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Lighter than Air RobotsTrajectory Design

Lighter than Air Robots: Trajectory Design [As the lighter than air robot is under-actuated, i.e. less control inputs than degrees of freedom, the set of feasible trajectory will be restricted and consequently, the problem of trajectory generation becomes more complicated than a simple interpolation. Care must be taken in the selection of the basic primitives.] http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

Lighter than Air RobotsTrajectory Design

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Publisher
Springer Netherlands
Copyright
© Springer Science+Business Media B.V. 2012
ISBN
978-94-007-2662-8
Pages
99 –163
DOI
10.1007/978-94-007-2663-5_4
Publisher site
See Chapter on Publisher Site

Abstract

[As the lighter than air robot is under-actuated, i.e. less control inputs than degrees of freedom, the set of feasible trajectory will be restricted and consequently, the problem of trajectory generation becomes more complicated than a simple interpolation. Care must be taken in the selection of the basic primitives.]

Published: Sep 6, 2011

Keywords: Optimal Trajectory; Roll Angle; Flight Path; Final Configuration; Nonholonomic Constraint

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