基于矩阵群的欠驱动系统逆运动学规划器目录
A catalog of inverse-kinematics planners for underactuated systems on matrix groups
摘要：
本文提出了基于刚体旋转和位移群演化的欠驱动系统运动规划算法。运动规划被转录成（低维）组合选择和逆运动学问题。我们提出了一个目录的解决方案，所有欠驱动系统的$\SE{2}$，$\SO{3}$和$\SE{2}\times\real$根据其可控性分类。
英文摘要：
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We present a catalog of solutions for all underactuated systems on $\SE{2}$, $\SO{3}$ and $\SE{2}\times\real$ classified according to their controllability properties.
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