Page 11 - Textos de Matemática Vol. 43

CONTENTS
L´ıgia Abrunheiro, Margarida Camarinha and Jesu´s Clemente-Gallardo
Reduction of the dynamic optimal control problem of the spherical free
rigid body 1
Knut Hu¨per, Krzysztof Andrzej Krakowski and F´atima Silva Leite
Rolling Maps in a Riemannian Framework 15
Janusz Jakubiak
Path planning for a double pendulum using natural splines on the torus 31
Anna Korolko and Irina Markina
Nonholonomic semi-Riemannian geometry with examples on H-type
groups 43
L. Machado and R. Sepulchre
A Locally Quadratic Convergent Method to Compute the Karcher Mean
of SPD Matrices 57
Mauricio Godoy Molina, Erlend Grong, F´atima Silva Leite and Irina Markina
Rolling manifolds: An intrinsic perspective 71 Ricardo Pereira, Paula Rocha and Rita Sim˜oes
On the global reachability of structured 2D state space systems 85 Sandra Ricardo and Witold Respondek
State equivalence to the second-order nonholonomic chained form 95 Alessandro Saccon, John Hauser and A. Pedro Aguiar
On Optimal Infinite-time Regulation on SO(3) 109
Antonella Zanna
Generalized Polar Decompositions in Control 123