Conjugate points in nilpotent sub-Riemannian problem on the Engel group |
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Authors: | A A Ardentov Yu L Sachkov |
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Institution: | 1. Program Systems Institute of RAS, Pereslavl-Zalessky, Russia
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Abstract: | The left-invariant sub-Riemannian problem on the Engel group is considered. This problem is very important as nilpotent approximation of nonholonomic systems in four-dimensional space with two-dimensional control, for instance of a system which describes motion of mobile robot with a trailer. We study local optimality of extremal trajectories and estimate conjugate time in this article. |
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