3 papers
math.OC2000
Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus
William Pasillas-Lepine, Witold Respondek
We propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. T…
math.DG2000
Contact systems and corank one involutive subdistributions
William Pasillas-Lepine, Witold Respondek
We give necessary and sufficient geometric conditions for a distribution (or a Pfaffian system) to be locally equivalent to the canonical contact system on Jn(R,Rm), the space of n…
math.DG1999
On the geometry of Goursat structures
William Pasillas-Lepine, Witold Respondek
A Goursat structure on a manifold of dimension n is a rank two distribution D such that dim D(i)=i+2, for i=0,...,n-2, where D(i) denotes the derived flag of D, which is defined by…