Const rained Motion Planning: Applications in Mobile Robotics and in Maintenance Operations Nonlinear control system

We consider a system % whose kinematic constraints are modeled with a control system equation

(i) q € C is a configuration, C the configuration space. u is the control parameter taken in a control space U(q) that depends on q. Kinematic constraints that are initially expressed with constraints of the form G(g,<j) = 0, > 0 or > 0, can be transformed [2] into such an equation. /(•) is assumed to be smooth.