Approximate resolution of linear systems of differential equations with varying coefficients is
a recurrent problem, shared by a number of scientific and engineering areas, ranging from …

This book presents some facts and methods of the Mathematical Control Theory treated from
the geometric point of view. The book is mainly based on graduate courses given by the first …

Tangent spaces of a sub-Riemannian manifold are themselves sub-Riemannian manifolds.
They can be defined as metric spaces, using Gromov's definition of tangent spaces to a …

Optimal control has strongly influenced geometry since the early days of both subjects. In
particular, it played a crucial role in the birth of differential geometry in the nineteenth century …

We prove a general sufficient condition for local controllability of a nonlinear system at an
equilibrium point. Earlier results of Brunovsky, Hermes, Jurdjevic, Crouch and Byrnes …

It is generally accepted among biology and engineering communities that insects are
unstable at hover. However, existing approaches that rely on direct averaging do not fully …

The purpose of this paper is to provide an introduction to some geometric techniques of
modern geometric nonlinear optimal control theory by means of a worked out example. We …

Nonholonomic systems are a widespread topic in several scientific and commercial
domains, including robotics, locomotion and space exploration. This work sheds new light …

We propose a general strategy for solving the motion planning problem for real analytic,
controllable systems without drift. The procedure starts by computing a control that steers the …

In this paper we present a definition of" configuration controllability" for mechanical systems
whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential …