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In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.

In this paper we extend our earlier results on the use of periodic forcing and averaging to solve the constructive controllability problem for drift-free left-invariant systems on Lie groups with fewer controls than state ...

In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (e) amplitude, low-frequency, ...

In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...

It is remarkable that despite the presence of large numbers of degrees of freedom, motion control problems are effectively solved in biological systems. While feedback, regulation and tracking have served us well in ...

It has been known for some time that the classical work of Kirchhoff, Love,and Birkhoff on rigid bodies in incompressible, irrotational flows provideseffective models for treating control problems for underwater vehicles.This ...