Pfaffian constraint

In robot motion planning, a Pfaffian constraint is a set of k linearly independent constraints linear in velocity, i.e., of the form

$A(q) \dot q=0$

One source of Pfaffian constraints is rolling without slipping in wheeled robots.^[1]

References

1. Choset, H.M. (2005). Principles of Robot Motion: Theory, Algorithms, and Implementation. The MIT Press. ISBN 0-262-03327-5.