Pfaffian constraint
Encyclopedia
In robot
motion planning
, a Pfaffian constraint is a set of k linearly independent constraint
s linear in velocity, i.e., of the form
One source of Pfaffian constraints is rolling without slipping in wheeled robots.
Robot
A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming. Robots can be autonomous, semi-autonomous or...
motion planning
Motion planning
Motion planning is a term used in robotics for the process of detailing a task into discrete motions....
, a Pfaffian constraint is a set of k linearly independent constraint
Constraint (mathematics)
In mathematics, a constraint is a condition that a solution to an optimization problem must satisfy. There are two types of constraints: equality constraints and inequality constraints...
s linear in velocity, i.e., of the form
One source of Pfaffian constraints is rolling without slipping in wheeled robots.