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On a computationally simple form of the generalized Campbell–Baker–Hausdorff–Dynkin formula

✍ Scribed by Ignacy Dulȩba

Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
141 KB
Volume
34
Category
Article
ISSN
0167-6911

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✦ Synopsis

In this paper a computationally simple form of the generalized Campbell-Baker-Hausdor -Dynkin formula (GCBHD) is given. Simpliÿcations arise from both combinatorial (explicit) as well as algorithmic (implicit) arguments. On generating the Ph. Hall basis in a special form, and introducing a speciÿc structure representation of the vector ÿeld, vector ÿelds appearing in GCBHD are automatically transformed into the reduced Ph. Hall basis. The formula can be exploited in nonholonomic motion planning what is illustrated with examples.

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