Introduction to Geometric Mechanics and Differential Geometry


Papers to be read during the semester:

Nonholonomic Motion Planning: Steering Using Sinusoids
R. Murray and S. Sastry
IEEE Transactions on Automatic Control  38  700-716  (1993)

On Reorienting Linked Rigid Bodies Using Internal Motions
G. Walsh and S. Sastry
Robotics and Automation, IEEE Transactions on  11  139-146  (1995)

Geometric Phases and Robotic Locomotion
S. Kelly and R. M. Murray
J. Robotic Systems  12  417-431  (1995)

Motion Planning for an Articulated Body in a Perfect Planar Fluid
J. B. Melli and C. W. Rowley and D. S. Rufat
SIAM Journal of Applied Dynamical Systems  5  650-669  (2006)

Connection Vector Fields and Optimized Coordinates for Swimming Systems at Low and High Reynolds Numbers
R. L. Hatton and H. Choset
Proceedings of the ASME Dynamic Systems and Controls Conference (DSCC)      (2010)

Geometric Motion Planning: The Local Connection, Stokes's Theorem, and the Importance of Coordinate Choice
R. L. Hatton and H. Choset
International Journal of Robotics Research  30  988-1014  (2011)