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Essays on Mathematical Robotics - Baillieul, John (Editor), and Sastry, Shankar S (Editor), and Sussmann, Hector J (Editor)
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The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops.

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Essays on Mathematical Robotics 2012, Springer, New York, NY

ISBN-13: 9781461272519

Trade paperback

Essays on Mathematical Robotics 1998, Springer, New York, NY

ISBN-13: 9780387985961

1998 edition

Hardcover