{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T13:38:43Z","timestamp":1767706723386,"version":"3.38.0"},"reference-count":16,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2001,4,1]],"date-time":"2001-04-01T00:00:00Z","timestamp":986083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2001,4]]},"abstract":"<jats:p> In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law guarantees almost global exponential convergence of the configuration error to zero with paths that do not exhibit any cusps, thus satisfying a major requirement for the application of such results on real systems that are not allowed or desired to move in both the forward and backward directions. <\/jats:p>","DOI":"10.1177\/02783640122067417","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T06:59:46Z","timestamp":1058597986000},"page":"300-311","source":"Crossref","is-referenced-by-count":5,"title":["Cusp-Free, Time-Invariant, 3D Feedback Control Law for a Nonholonomic                 Floating Robot"],"prefix":"10.1177","volume":"20","author":[{"given":"Michele","family":"Aicardi","sequence":"first","affiliation":[]},{"given":"Giorgio","family":"Cannata","sequence":"additional","affiliation":[]},{"given":"Giuseppe","family":"Casalino","sequence":"additional","affiliation":[{"name":"DIST-Department of Communications, Computers and Systems Science,                         Universit\u00e0 di Genova, via all\u2019Opera Pia 13, 16145                         Genova, Italy"}]},{"given":"Giovanni","family":"Indiveri","sequence":"additional","affiliation":[{"name":"GMD-AiS, German National Research Center on Information Technologies,                         Institute for Autonomous Intelligent Systems, Schloss Birlinghoven, 53754                         Sankt Augustin, Germany"}]}],"member":"179","published-online":{"date-parts":[[2001,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Aicardi, M., Casalino, G., Bicchi, A., and Balestrino, A. 1995. 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