Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

“The main objective of the book under review is to
introduce the readers to nonholonomic systems from the point of view of control
theory. … the book is a concise survey of the methods for motion planning of
nonholonomic control systems by means of nilpotent approximation. It contains
both the theoretical background and the explicit computational algorithms for
solving this problem.” (I. Zelenko, Bulletin of the American Mathematical
Society, Vol. 53 (1), January, 2016)

“This book is nicely done and provides an introduction to the motion planning problem and its associated mathematical theory that should be beneficial to theorists in nonlinear control theory. The exposition is concise, but at the same time clear and carefully developed.” (Kevin A. Grasse, Mathematical Reviews, August, 2015)