SESSION: ThA10 Control of nonholonomic mechanical systems

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A control for a class of nonholonomic systems with drift: time-state control form and its applications
Hiromitsu Kiyota, Tokyo Institute of Technology, Mitsuji Sampei, Tokyo Institute of Technology
Feedback nilpotentization and motion control for nonholonomic systems on matrix lie groups
Herbert Struemper, California Institute of Technology
Local motion planning for nonholonomic control systems evolving on principal bundles
J.E. Radford, California Institute of Technology, Joel W. Burdick, California Institute of Technology
Rolling bodies with polyhedral surface: analysis of the reachable set
Antonio Bicchi, Università di Pisa, Yacine Chitour, Université Paris 11, Alessia Marigo, Università di Pisa
Rolling bodies with regular surface: analysis of the reachable manifold
A. Marigo, Università di Pisa, Antonio Bicchi, Università di Pisa