| Budget Amount *help |
¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2011: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Research Abstract |
For generic polynomial control-affine systems, we have several results on the general properties that singular paths possess. We have the characterization of singular paths for the G2 Cartan systems, which are important also in classical differential geometry.
We have studied the approximation problem of arbitrary path by a singular path and several ideas on the applications to singular motion-planning problem. We have analyzed the singularity theory of mappings on infinite dimensional manifolds associated to completely non-integrable systems and applied to concrete singular motion-planning problems. From the viewpoint of infinite dimensional sub-Riemannian geometry, we have tried to formulate the basic theory on singular points of mapping spaces with constraints. Moreover we have the new insights on the dependence of systems of vector fields, which will defy known results.
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