General principles are derived for constructing guiding vector fields for non-holonomic path-following on R^3 by analyzing the geometric structure of the velocity constraint.
Motion planning of 3d nonholonomic robots via curvature- constrained vector fields
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Structure of Motion under Constraints and non-Holonomic Path-Following on $R^3$
General principles are derived for constructing guiding vector fields for non-holonomic path-following on R^3 by analyzing the geometric structure of the velocity constraint.