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Motion, Control, and Geometry: Proceedings of a Symposium (1997)
Commission on Physical Sciences, Mathematics, and Applications (CPSMA)

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. "3: GEOMETRIC PHASES, CONTROL THEORY, AND ROBOTICS." Motion, Control, and Geometry: Proceedings of a Symposium. Washington, DC: The National Academies Press, 1997.

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Motion, Control, and Geometry: Proceedings of a Symposium

Shapere, A. and F. Wilczek, 1989, "Efficiencies of Self-propulsion at Low Reynolds Number," Journal of Fluid Mechanics 198, 587-599.

Sussmann, H.J. and G. Tang, 1991, "Shortest Paths for the Reeds-Shepp Car: A Worked out Example of the Use of Geometric Techniques in Nonlinear Optimal Control," Technical Report, New Brunswick, NJ: Rutgers Center for Systems and Control.

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