Motion Primitives for Stabilization and Control of Underactuated Vehicles

A General Theorem on Local Controllability

H.J. Sussmann · SIAM Journal on Control and Optimization · 1987 · 627 citations

Natural Sciences, Mathematics, Complex Systems +16

Motion planning for controllable systems without drift

Gerardo Lafferriere, H.J. Sussmann · 2002 · 245 citations

Computing, Computer Science, Mathematics +15

Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups

Francesco Bullo, Naomi Ehrich Leonard, Andrew D. Lewis · IEEE Transactions on Automatic Control · 2000 · 221 citations

Natural Sciences, Mathematics, Mechanical Engineering +17

Motion control of drift-free, left-invariant systems on Lie groups

Naomi Ehrich Leonard, P. S. Krishnaprasad · IEEE Transactions on Automatic Control · 1995 · 217 citations

Natural Sciences, Autonomous Systems, Mathematics +17

Motion control for underactuated mechanical systems on lie groups

Francesco Bullo, Naomi Ehrich Leonard · 1997 · 15 citations

Engineering, Mechanical Engineering, Robotics Engineering +13