This work develops the geometry and dynamics of mechanical systems with nonholonomic
constraints and symmetry from the perspective of Lagrangian mechanics and with a view to …

Nonholonomic systems provide an important class of mechanical control systems. One
reason for this importance is that nonintegrability is essential to both the mechanics and the …

This booklet studies the geometry of the reduction of Lagrangian systems with symmetry in a
way that allows the reduction process to be repeated; that is, it develops a context for …

This paper outlines some features of general reduction theory as well as the geometry of
nonholonomic mechanical systems. In addition to this survey nature, there are some new …

In this paper, we analyze the stability of relative equilibria of non-holonomic systems (that is,
mechanical systems with non-integrable constraints such as rolling constraints). In the …

Problems in engineering, computational science, and the physical and biological sciences
are using increasingly sophisticated mathematical techniques. Thus, the bridge between the …

In this thesis, methods of geometric mechanics are used to study the integrability and
stability of nonholonomic systems (that is, mechanical systems with nonintegrable …

We examine the kinematic model of a mobile robot with tools of differential geometry. These
tools allow comprehensive modelling of even complex mobile articulated mechanical …

The purpose of this supplement is to give some additional topics not covered in the main text
as well as to provide some additional details and sometimes, alternative approaches. For …