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"collision detection" references for the Electrical Engineer
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Robot Motion Planning and Control Book Description: Wikipedia says "a nonholonomic system is a system in which a return to the original internal configuration does not guarantee return to the original system position. In other words, unlike with a holonomic system, the outcome of a nonholonomic system is path-dependent." This textbook looks into robot motion with the understanding that sometimes your hardware cann't do everything you ask of it, so you need to take those limitations into account.

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