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# Lie group integrators for animation and control of vehicles

@article{Kobilarov2009LieGI, title={Lie group integrators for animation and control of vehicles}, author={Marin Kobilarov and Keenan Crane and Mathieu Desbrun}, journal={ACM Trans. Graph.}, year={2009}, volume={28}, pages={16:1-16:14} }

- Published 2009 in ACM Trans. Graph.
DOI:10.1145/1516522.1516527

This article is concerned with the animation and control of vehicles with complex dynamics such as helicopters, boats, and cars. Motivated by recent developments in discrete geometric mechanics, we develop a general framework for integrating the dynamics of holonomic and nonholonomic vehicles by preserving their state-space geometry and motion invariants. We demonstrate that the resulting integration schemes are superior to standard methods in numerical robustness and efficiency, and can be… CONTINUE READING

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