Geometry of non-holonomic diffusion

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.


Published in:
Journal Of The European Mathematical Society, 17, 2, 273-319
Year:
2015
Publisher:
Zurich, European Mathematical Soc
ISSN:
1435-9855
Keywords:
Laboratories:




 Record created 2015-05-29, last modified 2018-09-13


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