Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system.

Siddhartha S. Srinivasa Michael Erdmann Matthew T. Mason Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system. 3391-3396 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#SrinivasaEM03