I am working with a sampling based planning library. When I looked into the implementation, I found for kinematic car a SE2 state space(x, y, yaw), for dynamic car a SE2 compound state space (space allowing composition of state spaces), for blimp and quadrotor a SE3 compound state space was used. I could understand the design of SE2 and SE3 state spaces but the compound state spaces of dynamic car, blimp and quadrotor I could not comprehend or differentiate.

What is the difference in terms of state space for motion planning for kinematic car, dynamic car, blimp, and quadrotor?

  • $\begingroup$ Each state and input matrix varies based on the system's natural response and how your inputs affect the system. What exactly are you asking for? What rigid body would you do motion planning for? How would you have a kinematic car modeled in state space form (which is a differential equation)? Please clarify your question. $\endgroup$
    – Chuck
    Commented Feb 19, 2016 at 12:13
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    $\begingroup$ This feels like a 'fishing' question, and demonstrates that the asker hasn't done much preliminary research on the topic beforehand. e.g. Asking about motion planning for a rigid body. The question should either be extremely narrowed to a single example, or closed. $\endgroup$ Commented Feb 19, 2016 at 12:29
  • $\begingroup$ @MechanicalMan - OP has asked some good questions in the past, so I'm hoping they'll come back and revise this into something more substantial. I'll vote to close it in a day or two if it looks like it's abandoned. $\endgroup$
    – Chuck
    Commented Feb 19, 2016 at 14:04
  • $\begingroup$ Yeah, I saw that and was surprised. I'm half wondering if they let someone borrow their account. This could be an interesting question, if they narrowed it down to comparing a the state space of quadcopter to that of a blimp, since I'm actually now wondering about that myself. $\endgroup$ Commented Feb 19, 2016 at 14:13
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    $\begingroup$ Can you please link to the source for your state space models? I still don't understand how a differential equation is a suitable description for a kinematic model. When you say "compound state space" I think you might mean augmented state matrices - those would be use to add "layers" of detail to a model, but again I'm not sure what your meaning is. $\endgroup$
    – Chuck
    Commented Feb 22, 2016 at 14:15