Nilpotent

Steering nonholonomic systems in chained form

Richard M. Murray, Shankar Sastry

Citations: 139 • 2002

Stabilization of an underactuated planar 2R manipulator

Alessandro De Luca, R. Mattone, Giuseppe Oriolo

Citations: 115 • 2000

Extremal trajectories in a nilpotent sub-Riemannian problem on the Engel group

A. A. Ardentov, Yurii Leonidovich Sachkov

Citations: 56 • 2011

Control of underactuated mechanical systems: application to the planar 2R robot

Alessandro De Luca, R. Mattone, Giuseppe Oriolo

Citations: 53 • 2002

Conjugate points in nilpotent sub-Riemannian problem on the Engel group

A. A. Ardentov, Yu. L. Sachkov

Citations: 49 • 2013

Canonical nilpotent approximation of control systems: application to nonholonomic motion planning

A. Bellaïche, J.-P. Laumond, Monique Chyba

Citations: 32 • 2002

Stabilization of the general two-trailer system

Marilena Vendittelli, Giuseppe Oriolo

Citations: 30 • 2002

Left-invariant optimal control problems on Lie groups: classification and problems integrable by elementary functions

Yu. L. Sachkov

Citations: 23 • 2022

Development and Control Experiment of the Trident Snake Robot

Masato Ishikawa, Yuki Minami, Toshiharu Sugie

Citations: 8 • 2006

On geometric control models of a robotic snake

Aleš Návrat, Petr Vašík

Citations: 8 • 2017

Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc—Numerical Solutions

Marek Stodola, Matej Rajchl, Martin Brablc, Stanislav Frolík, Václav Křivánek

Citations: 6 • 2021

On the motion planning problem for a spherical rolling robot driven by two rotors

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

Citations: 6 • 2012

On the Iterative Steering of a Rolling Robot Actuated by Internal Rotors

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

Citations: 4 • 2015

Left-invariant optimal control problems on Lie groups that are integrable by elliptic functions

Yurii Leonidovich Sachkov

Citations: 3 • 2023

Stabilization of an underactuated planar 2R manipulator

Alessandro De Luca, R. Mattone, Giuseppe Oriolo

Citations: 3 • 2000

Attainable Set for Rank 3 Step 2 Free Carnot Group with Positive Controls

A. V. Podobryaev

Citations: 2 • 2022

Motion Planning for Drift-Free Nonholonomic Systems under a Discrete Levels Control Constraint

Photis G. Skiadas, Nick T. Koussoulas

Citations: 2 • 2001