{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T16:17:27Z","timestamp":1772295447568,"version":"3.50.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2010,11,17]],"date-time":"2010-11-17T00:00:00Z","timestamp":1289952000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Nonlinear Sci"],"published-print":{"date-parts":[[2011,6]]},"DOI":"10.1007\/s00332-010-9084-8","type":"journal-article","created":{"date-parts":[[2010,11,16]],"date-time":"2010-11-16T21:03:07Z","timestamp":1289941387000},"page":"325-385","source":"Crossref","is-referenced-by-count":28,"title":["Locomotion and Control of a Self-Propelled Shape-Changing Body in a Fluid"],"prefix":"10.1007","volume":"21","author":[{"given":"Thomas","family":"Chambrion","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexandre","family":"Munnier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2010,11,17]]},"reference":[{"key":"9084_CR1","series-title":"Encyclopaedia of Mathematical Sciences","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-662-06404-7","volume-title":"Control Theory from the Geometric Viewpoint","author":"A.A. Agrachev","year":"2004","unstructured":"Agrachev, A.A., Sachkov, Y.L.: Control Theory from the Geometric Viewpoint. Encyclopaedia of Mathematical Sciences, vol.\u00a087. Springer, Berlin (2004). Control Theory and Optimization, II"},{"issue":"3","key":"9084_CR2","doi-asserted-by":"crossref","first-page":"277","DOI":"10.1007\/s00332-007-9013-7","volume":"18","author":"F. Alouges","year":"2008","unstructured":"Alouges, F., DeSimone, A., Lefebvre, A.: Optimal strokes for low Reynolds number swimmers: an example. J.\u00a0Nonlinear Sci. 18(3), 277\u2013302 (2008)","journal-title":"J.\u00a0Nonlinear Sci."},{"key":"9084_CR3","doi-asserted-by":"crossref","first-page":"3143","DOI":"10.1242\/jeb.201.23.3143","volume":"201","author":"J. Carling","year":"1998","unstructured":"Carling, J., Williams, T., Bowtell, G.: Self-propelled anguilliform swimming: simultaneous solution of the two-dimensional Navier\u2013Stokes equations and Newton\u2019s laws of motion. J.\u00a0Exp. Biol. 201, 3143\u20133166 (1998)","journal-title":"J.\u00a0Exp. Biol."},{"key":"9084_CR4","unstructured":"Cartan, H.: Th\u00e9orie \u00e9l\u00e9mentaire des fonctions analytiques d\u2019une ou plusieurs variables complexes. Avec le concours de Reiji Takahashi. Enseignement des Sciences. Hermann, Paris (1961)"},{"issue":"1","key":"9084_CR5","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1109\/TAC.2007.914958","volume":"53","author":"T. Chambrion","year":"2008","unstructured":"Chambrion, T., Sigalotti, M.: Tracking control for an ellipsoidal submarine driven by Kirchhoff\u2019s laws. IEEE Trans. Autom. Control 53(1), 339\u2013349 (2008)","journal-title":"IEEE Trans. Autom. Control"},{"key":"9084_CR6","series-title":"World Sci. Monogr. Ser. Math.","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1142\/9789812792099_0003","volume-title":"Hamiltonian Systems and Celestial Mechanics","author":"A. Cherman","year":"2000","unstructured":"Cherman, A., Delgado, J., Duda, F., Ehlers, K., Koiller, J., Montgomery, R.: Low Reynolds number swimming in two dimensions. In: Hamiltonian Systems and Celestial Mechanics, P\u00e1tzcuaro, 1998. World Sci. Monogr. Ser. Math., vol.\u00a06, pp.\u00a032\u201362. World Sci. Publ., River Edge (2000)"},{"key":"9084_CR7","series-title":"Cambridge Studies in Mathematical Biology","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511569593","volume-title":"Mechanics of Swimming and Flying","author":"S. Childress","year":"1981","unstructured":"Childress, S.: Mechanics of Swimming and Flying. Cambridge Studies in Mathematical Biology, vol.\u00a02. Cambridge University Press, Cambridge (1981)"},{"issue":"1","key":"9084_CR8","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1007\/s002050050156","volume":"148","author":"G.P. Galdi","year":"1999","unstructured":"Galdi, G.P.: On the steady self-propelled motion of a body in a viscous incompressible fluid. Arch. Ration. Mech. Anal. 148(1), 53\u201388 (1999)","journal-title":"Arch. Ration. Mech. Anal."},{"key":"9084_CR9","series-title":"Lecture Notes in Control and Information Sciences","doi-asserted-by":"crossref","DOI":"10.1007\/BFb0006368","volume-title":"Nonlinear Control Systems: An Introduction","author":"A. Isidori","year":"1985","unstructured":"Isidori, A.: Nonlinear Control Systems: An Introduction. Lecture Notes in Control and Information Sciences, vol.\u00a072. Springer, Berlin (1985)"},{"key":"9084_CR10","unstructured":"Jakubczyk, B.: Introduction to geometric nonlinear control; controllability and Lie bracket. In: Mathematical Control Theory, Part 1, 2 (Trieste, 2001), ICTP Lect. Notes, VIII, pp. 107\u2013168 (electronic). Abdus Salam Int. Cent. Theoret. Phys., Trieste (2002)"},{"key":"9084_CR11","series-title":"Cambridge Studies in Advanced Mathematics","volume-title":"Geometric Control Theory","author":"V. Jurdjevic","year":"1997","unstructured":"Jurdjevic, V.: Geometric Control Theory. Cambridge Studies in Advanced Mathematics, vol.\u00a052. Cambridge University Press, Cambridge (1997)"},{"key":"9084_CR12","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1016\/0022-0396(72)90035-6","volume":"12","author":"V. Jurdjevic","year":"1972","unstructured":"Jurdjevic, V., Sussmann, H.J.: Control systems on Lie groups. J.\u00a0Differ. Equ. 12, 313\u2013329 (1972)","journal-title":"J.\u00a0Differ. Equ."},{"key":"9084_CR13","first-page":"2511","volume-title":"IEEE Conference on Decision and Control","author":"E. Kanso","year":"2005","unstructured":"Kanso, E., Marsden, J.: Optimal motion of an articulated body in a perfect fluid. In: IEEE Conference on Decision and Control, pp.\u00a02511\u20132516 (2005)"},{"issue":"4","key":"9084_CR14","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1007\/s00332-004-0650-9","volume":"15","author":"E. Kanso","year":"2005","unstructured":"Kanso, E., Marsden, J.E., Rowley, C.W., Melli-Huber, J.B.: Locomotion of articulated bodies in a perfect fluid. J.\u00a0Nonlinear Sci. 15(4), 255\u2013289 (2005)","journal-title":"J.\u00a0Nonlinear Sci."},{"issue":"4","key":"9084_CR15","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1002\/(SICI)1099-1239(20000415)10:4<217::AID-RNC469>3.0.CO;2-X","volume":"10","author":"S.D. Kelly","year":"2000","unstructured":"Kelly, S.D., Murray, R.M.: Modelling efficient pisciform swimming for control. Int. J. Robust Nonlinear Control 10(4), 217\u2013241 (2000)","journal-title":"Int. J. Robust Nonlinear Control"},{"issue":"2\u20133","key":"9084_CR16","doi-asserted-by":"crossref","first-page":"553","DOI":"10.1023\/B:JODY.0000009748.39033.86","volume":"15","author":"V.V. Kozlov","year":"2003","unstructured":"Kozlov, V.V., Onishchenko, D.A.: Motion of a body with undeformable shell and variable mass geometry in an unbounded perfect fluid. J.\u00a0Dyn. Differ. Equ. 15(2\u20133), 553\u2013570 (2003a)","journal-title":"J.\u00a0Dyn. Differ. Equ."},{"issue":"4","key":"9084_CR17","first-page":"620","volume":"67","author":"V.V. Kozlov","year":"2003","unstructured":"Kozlov, V.V., Onishchenko, D.A.: On the motion in an ideal fluid of a body containing a moving concentrated mass. Prikl. Mat. Mekh. 67(4), 620\u2013633 (2003b)","journal-title":"Prikl. Mat. Mekh."},{"key":"9084_CR18","series-title":"Cambridge Mathematical Library","volume-title":"Hydrodynamics","author":"H. Lamb","year":"1993","unstructured":"Lamb, H.: Hydrodynamics, 6th edn. Cambridge Mathematical Library. Cambridge University Press, Cambridge (1993)","edition":"6"},{"key":"9084_CR19","doi-asserted-by":"crossref","DOI":"10.1137\/1.9781611970517","volume-title":"Mathematical Biofluiddynamics","author":"J. Lighthill","year":"1975","unstructured":"Lighthill, J.: Mathematical Biofluiddynamics. Society for Industrial and Applied Mathematics, Philadelphia (1975)"},{"issue":"2","key":"9084_CR20","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1006\/jcph.1999.6341","volume":"155","author":"H. Liu","year":"1999","unstructured":"Liu, H., Kawachi, K.: A\u00a0numerical study of undulatory swimming. J.\u00a0Comput. Phys. 155(2), 223\u2013247 (1999)","journal-title":"J.\u00a0Comput. Phys."},{"key":"9084_CR21","series-title":"Texts in Applied Mathematics","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-387-21792-5","volume-title":"Introduction to Mechanics and Symmetry","author":"J.E. Marsden","year":"1999","unstructured":"Marsden, J.E., Ratiu, T.S.: Introduction to Mechanics and Symmetry, 2nd edn. Texts in Applied Mathematics, vol.\u00a017. Springer, New York (1999)","edition":"2"},{"key":"9084_CR22","unstructured":"Mason, R.: Fluid Locomotion and Trajectory Planning for Shape-Changing Robots. Ph.D. thesis, California Institute of Technology, Department of Mechanical Engineering (June 2003)"},{"key":"9084_CR23","volume-title":"Proceedings of the 1999 IEEE International Conference on Robotics and Automation","author":"R. Mason","year":"1999","unstructured":"Mason, R., Burdick, J.: Propulsion and control of deformable bodies in an ideal fluid. In: Proceedings of the 1999 IEEE International Conference on Robotics and Automation. Springer, Berlin (1999)"},{"issue":"4","key":"9084_CR24","doi-asserted-by":"crossref","first-page":"650","DOI":"10.1137\/060649884","volume":"5","author":"J.B. Melli","year":"2006","unstructured":"Melli, J.B., Rowley, C.W., Rufat, D.S.: Motion planning for an articulated body in a perfect planar fluid. SIAM J. Appl. Dyn. Syst. 5(4), 650\u2013669 (2006) (electronic)","journal-title":"SIAM J. Appl. Dyn. Syst."},{"issue":"1915","key":"9084_CR25","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1098\/rspa.1993.0104","volume":"442","author":"T. Miloh","year":"1993","unstructured":"Miloh, T., Galper, A.: Self-propulsion of general deformable shapes in a perfect fluid. Proc. Math. Phys. Sci. 442(1915), 273\u2013299 (1993)","journal-title":"Proc. Math. Phys. Sci."},{"issue":"11","key":"9084_CR26","doi-asserted-by":"crossref","first-page":"1945","DOI":"10.1142\/S021820250800325X","volume":"18","author":"A. Munnier","year":"2008","unstructured":"Munnier, A.: On the self-displacement of deformable bodies in a potential fluid flow. Math. Models Methods Appl. Sci. 18(11), 1945\u20131981 (2008)","journal-title":"Math. Models Methods Appl. Sci."},{"issue":"6","key":"9084_CR27","doi-asserted-by":"crossref","first-page":"665","DOI":"10.1007\/s00332-009-9047-0","volume":"19","author":"A. Munnier","year":"2009","unstructured":"Munnier, A.: Locomotion of deformable bodies in an ideal fluid: Newtonian versus Lagrangian formalism. J.\u00a0Nonlinear Sci. 19(6), 665\u2013715 (2009)","journal-title":"J.\u00a0Nonlinear Sci."},{"issue":"10","key":"9084_CR28","doi-asserted-by":"crossref","first-page":"1899","DOI":"10.1142\/S0218202510004829","volume":"20","author":"A. Munnier","year":"2010","unstructured":"Munnier, A., Pin\u00e7on, B.: Locomotion of articulated bodies in an ideal fluid: 2d model with buoyancy, circulation and collisions. Math. Models Methods Appl. Sci. 20(10), 1899\u20131940 (2010)","journal-title":"Math. Models Methods Appl. Sci."},{"key":"9084_CR29","volume-title":"Real and Complex Analysis","author":"W. Rudin","year":"1987","unstructured":"Rudin, W.: Real and Complex Analysis, 3rd edn. McGraw-Hill, New York (1987)","edition":"3"},{"issue":"3","key":"9084_CR30","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1007\/s00205-007-0092-2","volume":"188","author":"J. Martin San","year":"2008","unstructured":"San Martin, J., Scheid, J.F., Takahashi, T., Tucsnak, M.: An initial and boundary problem modeling fish-like swimming. Arch. Ration. Mech. Anal. 188(3), 429\u2013455 (2008)","journal-title":"Arch. Ration. Mech. Anal."},{"issue":"3","key":"9084_CR31","doi-asserted-by":"crossref","first-page":"405","DOI":"10.1090\/S0033-569X-07-01045-9","volume":"65","author":"J. Mart\u00edn San","year":"2007","unstructured":"San Mart\u00edn, J., Takahashi, T., Tucsnak, M.: A\u00a0control theoretic approach to the swimming of microscopic organisms. Q.\u00a0Appl. Math. 65(3), 405\u2013424 (2007)","journal-title":"Q.\u00a0Appl. Math."},{"key":"9084_CR32","doi-asserted-by":"crossref","first-page":"557","DOI":"10.1017\/S002211208900025X","volume":"198","author":"A. Shapere","year":"1989","unstructured":"Shapere, A., Wilczek, F.: Geometry of self-propulsion at low Reynolds number. J.\u00a0Fluid Mech. 198, 557\u2013585 (1989)","journal-title":"J.\u00a0Fluid Mech."},{"issue":"4","key":"9084_CR33","doi-asserted-by":"crossref","first-page":"395","DOI":"10.1023\/A:1021256500244","volume":"44","author":"J.A. Sparenberg","year":"2002","unstructured":"Sparenberg, J.A.: Survey of the mathematical theory of fish locomotion. J.\u00a0Eng. Math. 44(4), 395\u2013448 (2002)","journal-title":"J.\u00a0Eng. Math."},{"key":"9084_CR34","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1090\/S0002-9947-1973-0321133-2","volume":"180","author":"H.J. Sussmann","year":"1973","unstructured":"Sussmann, H.J.: Orbits of families of vector fields and integrability of distributions. Trans. Am. Math. Soc. 180, 171\u2013188 (1973)","journal-title":"Trans. Am. Math. Soc."},{"key":"9084_CR35","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1098\/rspa.1951.0218","volume":"209","author":"G. Taylor","year":"1951","unstructured":"Taylor, G.: Analysis of the swimming of microscopic organisms. Proc. R. Soc. Lond., Ser. A 209, 447\u2013461 (1951)","journal-title":"Proc. R. Soc. Lond., Ser. A"},{"key":"9084_CR36","doi-asserted-by":"crossref","first-page":"158","DOI":"10.1098\/rspa.1952.0159","volume":"214","author":"G. Taylor","year":"1952","unstructured":"Taylor, G.: Analysis of the swimming of long and narrow animals. Proc. R. Soc. Lond., Ser. A 214, 158\u2013183 (1952)","journal-title":"Proc. R. Soc. Lond., Ser. A"},{"key":"9084_CR37","first-page":"33","volume-title":"Annual Review of Fluid Mechanics","author":"M.S. Triantafyllou","year":"2000","unstructured":"Triantafyllou, M.S., Triantafyllou, G.S., Yue, D.K.P.: Hydrodynamics of fishlike swimming. In: Annual Review of Fluid Mechanics, vol.\u00a032, pp.\u00a033\u201353. Annual Reviews, Palo Alto (2000)"},{"issue":"17\u201318","key":"9084_CR38","doi-asserted-by":"crossref","first-page":"1541","DOI":"10.1002\/mma.218","volume":"24","author":"T.Y. Wu","year":"2001","unstructured":"Wu, T.Y.: Mathematical biofluiddynamics and mechanophysiology of fish locomotion. Math. Methods Appl. Sci. 24(17\u201318), 1541\u20131564 (2001)","journal-title":"Math. Methods Appl. Sci."},{"key":"9084_CR39","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1017\/S002211200200143X","volume":"468","author":"Q. Zhu","year":"2002","unstructured":"Zhu, Q., Wolfgang, M.J., Yue, D.K.P., Triantafyllou, M.S.: Three-dimensional flow structures and vorticity control in fish-like swimming. J.\u00a0Fluid Mech. 468, 1\u201328 (2002)","journal-title":"J.\u00a0Fluid Mech."}],"container-title":["Journal of Nonlinear Science"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00332-010-9084-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00332-010-9084-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00332-010-9084-8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,13]],"date-time":"2021-11-13T16:41:36Z","timestamp":1636821696000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00332-010-9084-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,11,17]]},"references-count":39,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2011,6]]}},"alternative-id":["9084"],"URL":"https:\/\/doi.org\/10.1007\/s00332-010-9084-8","relation":{},"ISSN":["0938-8974","1432-1467"],"issn-type":[{"value":"0938-8974","type":"print"},{"value":"1432-1467","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,11,17]]}}}