The bodies and brains of fish have evolved to achieve control objectives beyond the
capabilities of current underwater vehicles. One route toward designing underwater vehicles …

Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

Nonholonomic systems provide an important class of mechanical control systems. One
reason for this importance is that nonintegrability is essential to both the mechanics and the …

This book presents methods to study the controllability and the stabilization of nonlinear
control systems in finite and infinite dimensions. The emphasis is put on specific phenomena …

The classical Fourier transform is one of the most widely used mathematical tools in
engineering. However, few engineers know that extensions of harmonic analysis to …

In this paper we study the stabilization problem for con-trol systems defined on SE (3), the
Euclidean group of rigid-body motions. Assuming one actuator is available for each degree …

At publication, The Control Handbook immediately became the definitive resource that
engineers working with modern control systems required. Among its many accolades, that …

Nonholonomic systems are control systems which depend linearly on the control. Their
underlying geometry is the sub-Riemannian geometry, which plays for these systems the …

We are interested in using low-degree-of-freedom robots to perform complex tasks by
nonprehensile manipulation (manipulation without aformorforce-closure grasp). By …

Recent advances in geometric mechanics, motivated in large part by applications in control
theory, have introduced new tools for understanding and utilizing the structure present in …