Publication

Geometry of non-holonomic diffusion

Tudor Ratiu, Simon Hochgerner
2015
Journal Articles

Abstract

We study stochastically perturbed non-holonomic systems from a geometric point of view. In this setting, it turns out that the probabilistic properties of the perturbed system are intimately linked to the geometry of the constraint distribution. For G-Chaplygin systems, this yields a stochastic criterion for the existence of a smooth preserved measure. As an application of our results, we consider the motion planning problem for the noisy two-wheeled robot and the noisy snakeboard.

Official source

https://infoscience.epfl.ch/entities/publication/f8567633-9c9a-4c6d-b018-1fec041c1175

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Geometry of non-holonomic diffusion

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