Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, Shankar S. Sastry. Control primitives for robot systems. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 22(1):183-193, 1992. [doi]
@article{MurrayDPS92,
title = {Control primitives for robot systems},
author = {Richard M. Murray and D. Curtis Deno and Kristofer S. J. Pister and Shankar S. Sastry},
year = {1992},
doi = {10.1109/21.141324},
url = {http://dx.doi.org/10.1109/21.141324},
researchr = {https://researchr.org/publication/MurrayDPS92},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part A},
volume = {22},
number = {1},
pages = {183-193},
}