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Geometric Phases, Anholonomy, and Optimal Movement
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 ...
Optimal Control and Poisson Reduction
In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.