Are you an EPFL student looking for a semester project?
Work with us on data science and visualisation projects, and deploy your project as an app on top of Graph Search.
Publication
Are you an EPFL student looking for a semester project?
Work with us on data science and visualisation projects, and deploy your project as an app on top of Graph Search.
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.