Smooth closed-form curves on the Lie group of rigid body motions are constructed via the De Casteljau algorithm. Due to the lack of a bi-invariant metric on $SE(3) $, the resulting curve depends on the choice of the metric tensor. The two most common cases are analyzed

The De Casteljau algorithm on SE(3) / Altafini, Claudio. - 258:(2001), pp. 23-34.

The De Casteljau algorithm on SE(3)

Altafini, Claudio
2001-01-01

Abstract

Smooth closed-form curves on the Lie group of rigid body motions are constructed via the De Casteljau algorithm. Due to the lack of a bi-invariant metric on $SE(3) $, the resulting curve depends on the choice of the metric tensor. The two most common cases are analyzed
2001
258
Nonlinear Control in Year 2000
23
34
Altafini, Claudio
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11767/30556
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