Kashiwara, Kazhdan-Lusztig conjecture and holonomic system
Then following  consider a holonomic system
with Hamiltonian coordinates
Adopting a holonomic system
meant refining the control systems to ensure that the robot utilized all its new-found maneuverability:
Among the topics are real and complex singularities, the topology of differentiable maps, openings of differential map-germs, the relationship between free divisors and holonomic systems
, effective computational methods of invariants of singularities, the application of singularity theory to differential geometry, the deformation theory of CR structures, and differential equations with singular points.
X]-modules and of ind-sheaves on X x P, provide a RiemannHilbert correspondence for holonomic systems.
There, we will also describe some of the properties of the essential image of holonomic systems by the functor [PHI] Such a category is related to a construction of .
In holonomic systems
, the control input degrees are equal to total degrees of freedom, whereas, nonholonomic systems have less controllable degrees of freedom as compared to total degrees of freedom and have restricted mobility due to the presence of nonholonomic constraints.