Papers that we may or may not cover in class during the semester. You may find these helpful for inspiring your projects.
Nonholonomic Motion Planning: Steering Using Sinusoids
R. Murray and S. Sastry
IEEE Transactions on Automatic Control, vol. 38, p. 700-716 (1993)
Nonholonomic Motion Planning Using Stokes' Theorem
R. Mukherjee and D. P. Anderson
IEEE International Conference on Robotics and Automation, p. 802-809 (1993)
Nonholonomic Mechanics and Locomotion: The Snakeboard Example
J. Ostrowski, A. Lewis, R. Murray, and J. Burdick
Proceedings of the 1994 IEEE Conference on Robotics and Automation (1994)
On Reorienting Linked Rigid Bodies Using Internal Motions
G. Walsh and S. Sastry
IEEE Transactions on Robotics and Automation, vol. 11, p. 139-146 (1995)
Geometric Phases and Robotic Locomotion
S. Kelly and R. M. Murray
J. Robotic Systems, vol. 12, p. 417-431 (1995)
Symmetries in Motion: Geometric Foundations of Motion Control
J. E. Marsden and J. Ostrowski
Nonlinear Science Today (1997)
The Geometric Mechanics of Undulatory Robotic Locomotion
J. Ostrowski and J. Burdick
International Journal of Robotics Research, vol. 17, p. 683-701 (1998)
Reduced Equations for Nonholonomic Mechanical Systems with Dissipative Forces
J. Ostrowski
Reports on Mathematical Physics, vol. 42, p. 185-209 (1998)
Motion Planning for an Articulated Body in a Perfect Planar Fluid
J. B. Melli, C. W. Rowley, and D. S. Rufat
SIAM Journal of Applied Dynamical Systems, vol. 5, p. 650-669 (2006)
Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems
E. Shammas, H. Choset, and A. Rizzi
International Journal of Robotics Research, vol. 26, p. 1043-1073 (2007)
E. Shammas, H. Choset, and A. Rizzi
International Journal of Robotics Research, vol. 26, p. 1075-1124 (2007)
R. L. Hatton and H. Choset
International Journal of Robotics Research, vol. 30, p. 988-1014 (2011)
Geometric Mechanics, Dynamics, and Control of Fishlike Swimming in a Planar Ideal Fluid
S. D. Kelly, P. Pujari, and H. Xiong
The IMA Volumes in Mathematics and its Applications, vol. 155, p. 101-116 (2012)
Motion Planning for the Snakeboard
E. Shammas and M. de Oliveira
International Journal of Robotics Research, vol. 31, p. 872-885 (2012)
Minimum Perturbation Coordinates on SO(3)
M. Travers, R. L. Hatton, and H. Choset
Proceedings of the American Control Conference (2013)
Optimal Gait Design for Systems with Drift on SO(3)
M. Travers and H. Choset
Proceedings of the ASME Dynamic Systems and Controls Conference (2013)
Geometric Swimming at Low and High Reynolds Numbers
R. L. Hatton and H. Choset
IEEE Transactions on Robotics and Automation, vol. 29, p. 615-624 (2013)
Geometric Visualization of Self-Propulsion in a Complex Medium
R. L. Hatton, Y. Ding, H. Choset, and D. I. Goldman
Physical Review Letters, vol. 110, pp. 078101 (2013)
Snakeboard Motion Planning with Local Trajectory Information
T. Dear, R. L. Hatton, M. Travers, and H. Choset
Proceedings of the ASME Dynamic Systems and Controls Conference (2013)
A Novel Method for Modeling Skidding for Systems with Nonholonomic Constraints
S. Bazzi, E. Shammas, and D. Asmar
Nonlinear Dynamics, vol. 76.2, p. 1517-1528 (2014)
Limbless Locomotors that Turn in Place
C. Gong, M. Travers, H. C. Astley, D. I. Goldman, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (2015)
Snakeboard Motion Planning with Viscous Friction and Skidding
T. Dear, S. D. Kelly, M. Travers, and H. Choset
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (2015)
Nonconservativity and Noncommutativity in Locomotion
R. L. Hatton and H. Choset
Submitted to the SIAM Journal on Applied Dynamical Systems