Stabilization of an Autonomous Rolling Sphere Navigating in a Labyrinth Arena: A Geometric Mechanics Perspective

H. Karimpour, M. Keshmiri, and M. Mahzoon, “Stabilization of an Autonomous Rolling Sphere Navigating in a Labyrinth Arena: A Geometric Mechanics Perspective”, Systems and Control Letters, Vol. 61 No. 1, 2012, pp 495-505.