Tuesday, May 1, 2012

1204.6438 (Simon Hochgerner et al.)

Geometry of non-holonomic diffusion    [PDF]

Simon Hochgerner, Tudor S. Ratiu
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.
View original: http://arxiv.org/abs/1204.6438

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