Closed-loop steering for unicycle-like vehicles: A simple lyapunov like approach

Asymptotic Stability and Feedback Stabilization

R. Brockett · 1982 · 2.6K citations

Natural Sciences, Mathematics, Systems Engineering +12

Nonholonomic motion planning: steering using sinusoids

Richard M. Murray, Shankar Sastry · IEEE Transactions on Automatic Control · 1993 · 1.8K citations

Engineering, Mechanical Engineering, Robotics Engineering +14

Exponential stabilization of mobile robots with nonholonomic constraints

Carlos Canudas de Wit, O.J. Sørdalen · IEEE Transactions on Automatic Control · 1992 · 589 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots

Claude Samson · The International Journal of Robotics Research · 1993 · 295 citations

Engineering, Mechanical Engineering, Robotics Engineering +17