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}
}
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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Lie group methods

  • A. ISERLES, H. Z. MUNTHE-KAAS, S. P. NøRSETT, A. ZANNA
  • Acta Numerica 9, 215–365.
  • 2000
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