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Optimal Motion of an Articulated Body in a Perfect Fluid

Kanso, Eva and Marsden, Jerrold E. (2005) Optimal Motion of an Articulated Body in a Perfect Fluid. In: 2005 44th IEEE Conference on Decision and Control & European Control Conference. Proceedings IEEE Conference on Decision and Control. IEEE , Piscataway, NJ. ISBN 0-7803-9567-0

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An articulated body can propel and steer itself in a perfect fluid by changing its shape only. Our strategy for motion planning for the submerged body is based on finding the optimal shape changes that produce a desired net locomotion; that is, motion planning is formulated as a nonlinear optimization problem.

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Additional Information:© 2005 IEEE.
Record Number:CaltechAUTHORS:20101005-092345557
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ID Code:20294
Deposited By: Tony Diaz
Deposited On:16 Nov 2010 23:54
Last Modified:26 Dec 2012 12:30

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