Principles of Robot Motion: Theory, Algorithms, and Implementation

Choose a grid of points on
and sketch the tangent vectors of the vector field [ x 2, x 2 1] T at those points. You may draw these with a computer if you wish. Sketch by hand or use a computer to draw a few integral curves of this vector field. Does this vector field define aregular one-dimensional distribution?
For the vector fields g 1 = [ x 1 + x 2,0] T and g 2 = [0, 1 + x 2] T on
, sketch the integral manifolds, or foliation, defined by the distribution span({ g 1, g 2}). (See figure 12.9 for a drawing of a foliation.) Is the distribution regular?
For the vector fields g 1 = [1, 0, 0] T and g 2 = [0, 1, 0] T on
, sketch the foliation defined by the distribution span({ g 1, g 2}). Is the distribution regular? Is it involutive?
For the vector fields g 1 = [ x 3,0,0] and g 2 = [0,1,0] T
, sketch the foliation defined by the distribution span({ g 1, g 2}). Is the distribution regular? Is it involutive?
For the vector fields g 1 = [1+ x 3,1 ? x 2,0] T and g 2 = [0,0,1] T on
, sketch the foliation defined by the distribution...