In this master thesis we will deal with control systems, small time
local controllability and the concept of the maneuver automaton. We will at
first have a look at control affin systems and small time local
controllability. We will get to know different theorems to examin control
affin systems if they are small time local controllable. While we do so, we
will also introduce the rigid body model and use these theorems to examine
this example system for small time local controllability for different
dimensions of the control. Furthermore we will get to know theorems about
the existence of locally asymptotically stabilizing feedbacks and use these
theorems on the rigid body model. In the second part of this master thesis
we will focus on motion primitives. Specifically we will concentrate on
trim primitives and maneuvers. While we get to know the different
definitions and theorems in this section, we will also apply them on an
example system, the non-holonomic robot. After we found trim primitives and
maneuvers for this system, we will use the motion primitives to define the
maneuver automaton. With the help of this maneuver automaton, we will
follow a path with the non-holonomic robot. On top of that we will get to
know theorems about the controllability of the maneuver automaton and how
to solve an optimal control problem with it. We will also have a look at a
program to solve such an optimal control problem for the non-holonomic
robot. In the end we will look at a more complicated example system, the
extended nonholonomic robot, and point out differences to the motion
primitives of the non-holonomic robot.