Pfaffian constraint

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In robot motion planning, a Pfaffian constraint is a set of k linearly independent constraints linear in velocity, i.e., of the form

One source of Pfaffian constraints is rolling without slipping in wheeled robots.[1]


  1. ^ Choset, H.M. (2005). Principles of Robot Motion: Theory, Algorithms, and Implementation. The MIT Press. ISBN 0-262-03327-5.