General principles are derived for constructing guiding vector fields for non-holonomic path-following on R^3 by analyzing the geometric structure of the velocity constraint.
Simultaneous position and orientation planning of nonholonomic multirobot systems: A dynamic vector field approach.IEEE Transactions on Automatic Control, 69(12):8354–8369
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Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$
General principles are derived for constructing guiding vector fields for non-holonomic path-following on R^3 by analyzing the geometric structure of the velocity constraint.