Pfaffian

Trajectory generation for the N-trailer problem using Goursat normal form

Dawn M. Tilbury, Richard M. Murray, Shankar Sastry

Citations: 275 • 1995

The multi‐steering<i>N</i>‐trailer system: A case study of goursat normal forms and prolongations

Dawn M. Tilbury, Shankar Sastry

Citations: 32 • 1995

The Structure of Optimal Controls for a Steering Problem

Shankar Sastry, Richard Montgomery

Citations: 26 • 1992

Exterior differential systems and nonholonomic motion planning

Dawn M. Tilbury, Shankar Sastry

Citations: 26 • 1994

Extended Goursat normal forms with applications to nonholonomic motion planning

Linda Bushnell, Dawn M. Tilbury, Shankar Sastry

Citations: 18 • 2002

Extending interconnection and damping assignment passivity-based control (IDA-PBC) to underactuated mechanical systems with nonholonomic Pfaffian constraints: The mobile inverted pendulum robot

Vijay Muralidharan, Maruthi T. Ravichandran, Arun D. Mahindrakar

Citations: 15 • 2009

Solution of matching equations of IDA-PBC by Pfaffian differential equations

M. Reza J. Harandi, Hamid D. Taghirad

Citations: 14 • 2021

Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study

Krzysztof Tchoń, Joanna Ratajczak, Janusz Jakubiak

Citations: 9 • 2018

Control of systems subject to Pfaffian constraints: motivation for Kane's formulation

Douglas R. Isenberg

Citations: 6 • 2016

The Multi-Steering N-Trailer System: A Case Study of Goursat Normal Forms and Prolongations

Dawn M. Tilbury, Shankar Sastry

Citations: 6 • 1995

Kinematics Modelling of Mobile Robot with Articulated Limbs Without Wheel Slip

Przemysław Sperzyński, Antoni Gronowicz

Citations: 3 • 2016

Modelling and Control of a Robotic Hula–hoop System without Velocity Measurements

Alejandro Gutiérrez–Giles, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano

Citations: 3 • 2017

Solution to IDA-PBC PDEs by Pfaffian Differential Equations.

M. Reza J. Harandi, Hamid D. Taghirad

Citations: 3 • 2020