Francesco Bullo, Naomi Ehrich Leonard, Andrew D. Lewis. Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups. IEEE Trans. Automat. Contr., 45(8):1437-1454, 2000. [doi]
@article{BulloLL00,
title = {Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups},
author = {Francesco Bullo and Naomi Ehrich Leonard and Andrew D. Lewis},
year = {2000},
doi = {10.1109/9.871753},
url = {http://dx.doi.org/10.1109/9.871753},
researchr = {https://researchr.org/publication/BulloLL00},
cites = {0},
citedby = {0},
journal = {IEEE Trans. Automat. Contr.},
volume = {45},
number = {8},
pages = {1437-1454},
}