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arXiv · 2604.08873

Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$

Bohuan Lin·Weijia Yao
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Abstract

In this paper we study a path-following problem on $R^3$ with a non-holonomic constraint. The geometric structure associated to the velocity constraint is explored, and general principles for constructing guiding vector fields are obtained, fulfilling the path-following requirements on a neighborhood of the desired path while allowing the design of vector fields to be conducted in global coordinates.

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Bohuan Lin, Weijia Yao. 2026-04-10. Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$. https://arxiv.org/abs/2604.08873

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