Publications of Claude Samson

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Academic Journals

1. P. Morin, C. Samson. Control of Nonholonomic Mobile Robots Based on the Transverse Function Approach. IEEE Trans. on Robotics, To appear, 2009.
2. M.D. Hua, T. Hamel, P. Morin, C. Samson. A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones. IEEE Trans. on Automatic Control, To appear, 2009.
3. P. Morin, C. Samson. Control of Nonholonomic Mobile Robots Based on the Transverse Function Approach. IEEE Trans. on Robotics, To appear, 2009.
4. M.D. Hua, T. Hamel, P. Morin, C. Samson. A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones. IEEE Trans. on Automatic Control, To appear, 2009.
5. M. Fruchard, P. Morin, C. Samson. A framework for the control of nonholonomic mobile manipulators. The Int. Journal of Robotics Research, 25(8):745-780, 2006.
6. M. Fruchard, P. Morin, C. Samson. A framework for the control of nonholonomic mobile manipulators. The Int. Journal of Robotics Research, 25(8):745-780, 2006.
7. P. Morin, C. Samson. Practical and asymptotic stabilization of chained systems by the transverse function control approach. SIAM Journal on Control and Optimization, 43(1):32-57, 2004.
8. P. Morin, C. Samson. Practical and asymptotic stabilization of chained systems by the transverse function control approach. SIAM Journal on Control and Optimization, 43(1):32-57, 2004.
9. P. Morin, C. Samson. Practical stabilization of driftless systems on Lie groups: the transverse function approach. IEEE Trans. on Automatic Control, 48:1496-1508, 2003.
10. P. Morin, C. Samson. Stabilisation de systèmes non linéaires sans dérive: l'approche par fonctions transverses. Journal Européen des systèmes automatisés, 37:213-244, 2003.
11. P. Morin, C. Samson. Practical stabilization of driftless systems on Lie groups: the transverse function approach. IEEE Trans. on Automatic Control, 48:1496-1508, 2003.
12. P. Morin, C. Samson. Stabilisation de systèmes non linéaires sans dérive: l'approche par fonctions transverses. Journal Européen des systèmes automatisés, 37:213-244, 2003.
13. P. Morin, C. Samson. Feedback control of nonholonomic wheeled vehicles. A survey. Archives of Control Sciences, 12:7-36, 2002.
14. P. Morin, C. Samson. Feedback control of nonholonomic wheeled vehicles. A survey. Archives of Control Sciences, 12:7-36, 2002.
15. D.A. Liz\'arraga, P. Morin, C. Samson. Chained form approximation of a driftless system. Application to the exponential stabilization of the general N-trailer system. International Journal of Control, 74:1612-1629, 2001.
16. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. SIAM Journal on Control and Optimization, 40(4):1227-1249, 2001.
17. D.A. Liz\'arraga, P. Morin, C. Samson. Chained form approximation of a driftless system. Application to the exponential stabilization of the general N-trailer system. International Journal of Control, 74:1612-1629, 2001.
18. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. SIAM Journal on Control and Optimization, 40(4):1227-1249, 2001.
19. P. Morin, C. Samson. Control of non-linear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers. IEEE Trans. on Automatic Control, 45:141-146, 2000.
20. P. Morin, C. Samson. Control of non-linear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers. IEEE Trans. on Automatic Control, 45:141-146, 2000.
21. P. Morin, C. Samson. Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics. Control, Optimization $&$ Calculus of Variations, 4:1-36, 1999.
22. P. Morin, J.-B. Pomet, C. Samson. Design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop. SIAM Journal on Control and Optimization, 38:22-49, 1999.
23. P. Morin, C. Samson. Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics. Control, Optimization $&$ Calculus of Variations, 4:1-36, 1999.
24. P. Morin, J.-B. Pomet, C. Samson. Design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop. SIAM Journal on Control and Optimization, 38:22-49, 1999.
25. Ch. Fran\ccois, C. Samson. A new approach to the control of the planar one-legged hopper. Int. J. of Robotics Research, 1998.
26. P. Morin, C. Samson. Application of backstepping techniques to the time-varying exponential stabilization of chained form systems. European Journal of Control, 3:15-36, 1997.
27. P. Morin, C. Samson. Time-varying exponential stabilization of a rigid spacecraft with two control torques. IEEE Trans. on Automatic Control, 42:528-534, 1997.
28. P. Morin, C. Samson. Application of backstepping techniques to the time-varying exponential stabilization of chained form systems. European Journal of Control, 3:15-36, 1997.
29. P. Morin, C. Samson. Time-varying exponential stabilization of a rigid spacecraft with two control torques. IEEE Trans. on Automatic Control, 42:528-534, 1997.
30. C. Samson. Control of chained systems. Application to path following and point stabilization of mobile robots. IEEE Transactions on Automatic Control, 40(1):64-77, 1995.
31. P. Morin, C. Samson, J.-B. Pomet, Z.-P. Jiang. Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls. Systems $&$ Control Letters, 25:375-385, 1995.
32. P. Morin, C. Samson, J.-B. Pomet, Z.-P. Jiang. Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls. Systems $&$ Control Letters, 25:375-385, 1995.
33. C. Samson. Time-varying feedback stabilization of car-like wheeled mobile robots. The Int. J. of Robotics Research, 12(1), 1993.
34. C. Samson. Robust control of a class of non-linear systems and applications to robotics. International Journal of Adaptive Control and Signal Processing, 1:49-68, 1987.
35. C. Samson. Fixed point error analysis of the normalized ladder algorithm. IEEE Trans. on ASSP, 31(5), 1983.
36. C. Samson. Stability analysis of adaptively controlled systems subject to bounded disturbances. Automatica, 19(1), 1983.
37. C. Samson. Discrete model reference adaptive control of non-minimum phase systems. Optimal Control Applications and Methods, 3, 1982.
38. C. Samson. An adaptive LQ controller for non-minimum phase systems. International Journal of Control, 35(1), 1982.
39. C. Samson. A unified treatment of fast algorithms for identification. International Journal of Control, 35(5), 1982.
40. C. Samson, B. Egardt. Stable adaptive control of non-minimum phase systems. Systems and Control Letters, (3), 1982.
41. C. Samson, J.-J. Fuchs. Discrete adaptive regulation of not-necessarily minimum phase systems. IEE Proc, 128(3), 1981.
42. C. Samson. Commande adaptative de systèmes à non-minimum de phase. revue du CETHEDEC, (62), 1980.

Book Chapters

1. P. Morin, C. Samson. Handbook of Robotics. B. Siciliano, O. Khatib (eds.), Chap. 0, pp. 799-826, Springer, 2008.
2. P. Morin, C. Samson. Handbook of Robotics. B. Siciliano, O. Khatib (eds.), Chap. 0, pp. 799-826, Springer, 2008.
3. P. Morin, C. Samson. Robot Motion and Control: Recent Developments. K. Kozlowski (ed.), Vol. 335, Chap. 0, pp. 3-23, Lecture Notes in Control and Information Sciences, Springer, 2006.
4. P. Morin, C. Samson. Robot Motion and Control: Recent Developments. K. Kozlowski (ed.), Vol. 335, Chap. 0, pp. 3-23, Lecture Notes in Control and Information Sciences, Springer, 2006.
5. P. Morin, C. Samson. Commande. In La robotique mobile, J.-P. Laumond (ed.), Hermes, 2001.
6. P. Morin, C. Samson. Commande. In La robotique mobile, J.-P. Laumond (ed.), Hermes, 2001.
7. P. Morin, C. Samson. Stability and stabilization of nonlinear systems. F. Lamnabhi-Lagarrigue, A. van der Schaft (eds.), Chap. 0, LNCIS, Springer-Verlag, 1999.
8. P. Morin, C. Samson. Stability and stabilization of nonlinear systems. F. Lamnabhi-Lagarrigue, A. van der Schaft (eds.), Chap. 0, LNCIS, Springer-Verlag, 1999.
9. A. De Luca, G. Oriolo, C. Samson. Feedback control of a nonholonomic car-like robot. In Robot motion, planning and control, J.-P. Laumond (ed.), Lecture Notes in Control and Information Sciences 229, Springer, 1998.
10. D.-P. Tsakiris, C. Samson, P. Rives. Extending Visual Servoing Techniques to Nonholonomic Mobile Robots. D. Kriegman, S. Morse G. Hager (ed.), Lecture Notes in Control and Information Sciences (LNCIS), Springer-Verlag, 1998.
11. D.P. Tsakiris, P. Rives, C. Samson. Extending Visual Servoing Techniques to Nonholonomic Mobile Robots. In The Confluence of Vision and Control, Lecture Notes in Control and Information System, Kriegman, Hager and Morse (Ed.), Springer-Verlag, 1998.
12. C. Samson. Nonlinear feedback control. In Theory of robot control, B. Siciliano, G. Bastin, Eds. C. Canudas de Wit (ed.), Communications and Control Engineering, Springer, 1996.
13. D.-P. Tsakiris, C. Samson, P. Rives. Vision-based time-varying robot control. In Advances in Robotics, the ERNET perspective, C. melchiorri, H. Tolle C. Bonivento (ed.), Proceedings of the Research Workshop of ERNET- European Robotics Network, World Scientific, 1996.
14. C. Canudas de Wit, H. Khennouf, C. Samson, O.J. Sordalen. Nonlinear control design for mobile robots. In Recent Trends in Mobile Robots, Y. F. Zheng (ed.), World Scientific Series in Robotics and Automated Systems, Vol. 11, World Scientific, 1993.
15. C. Samson, M. Leborgne, B. Espiau. Robot control. The Task-Function approach. In Oxford Engineering Science Series, vol. 22, Oxford University Press, 1991.
16. C. Samson. Velocity and torque feedback control of a nonholonomic cart. In Advanced Robot Control, C. Canudas de Wit (ed.), Lecture Notes in Control and Information Sciences (LNCIS), Springer-Verlag, 1990.
17. C. Samson. Commande de robots manipulateurs rigides. Synthèse et analyse. In Techniques de la robotique. Architectures et commande, 1988.
18. B. espiau, C. Samson. Le point sur la commande proximétrique. In Techniques de la robotique. Perception et planification, B. Faverjon, J.-P. Merlet J.-D. Boissonnat (ed.), Robotique, Hermes, 1988.
19. C. Samson, J.-M. Ibarra Zannatha. Sur la commande des robots manipulateurs. In Outils et Modèles Mathématiques por l'Automatique, l'Analyse de Systémes et le Traitement du Signal, Vol. 3, CNRS, 1983.
20. C. Samson. Une méthode générale pour l'obtention des filtres en treillis. In Outils et Modèles Mathématiques pour l'Automatique, l'Analyse de Systèmes et le Traitement du Signal, Ed. du CNRS, Vol. 2, CNRS, 1982.

International Conferences

1. M.D. Hua, T. Hamel, P. Morin, C. Samson. Control of a Class of Thrust-Propelled Underactuated Vehicles and Application to a VTOL Drone. In IEEE Conf. on Robotics and Automation (ICRA), To appear, 2009.
2. M.D. Hua, T. Hamel, P. Morin, C. Samson. Control of a Class of Thrust-Propelled Underactuated Vehicles and Application to a VTOL Drone. In IEEE Conf. on Robotics and Automation (ICRA), To appear, 2009.
3. M. Maya-Mendez, P. Morin, C. Samson. Sensor-based control of a nonholonomic car-like robot via pose-estimation. In 10th Mexican Congress of Robotics, Mexico-city, Mexico, 2008.
4. P. Morin, C. Samson. Stabilization of trajectories for systems on Lie groups. Application to the rolling sphere. In IFAC World Congress, To appear, 2008.
5. P. Morin, C. Samson. Transverse function control of a class of non-invariant driftless systems. Application to vehicles with trailers. In IEEE Conf. on Decision and Control (CDC), Pages 4312-4319, 2008.
6. M. Maya-Mendez, P. Morin, C. Samson. Sensor-based control of a nonholonomic car-like robot via pose-estimation. In 10th Mexican Congress of Robotics, Mexico-city, Mexico, 2008.
7. P. Morin, C. Samson. Stabilization of trajectories for systems on Lie groups. Application to the rolling sphere. In IFAC World Congress, To appear, 2008.
8. P. Morin, C. Samson. Transverse function control of a class of non-invariant driftless systems. Application to vehicles with trailers. In IEEE Conf. on Decision and Control (CDC), Pages 4312-4319, 2008.
9. M.-D. Hua, P. Morin, C. Samson. Balanced-Force-Control of underactuated thrust-propelled vehicles. In IEEE Conf. on Decision and Control (CDC), Pages 6435-6441, 2007.
10. M.-D. Hua, P. Morin, C. Samson. Balanced-Force-Control of underactuated thrust-propelled vehicles. In IEEE Conf. on Decision and Control (CDC), Pages 6435-6441, 2007.
11. M. Maya-Mendez, P. Morin, C. Samson. Control of a nonholonomic mobile robot via sensor-based target tracking and pose estimation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 5612-5618, 2006.
12. P. Morin, C. Samson. Control with transverse functions and a single generator of underactuated mechanical systems. In IEEE Conf. on Decision and Control (CDC), Pages 6110-6115, 2006.
13. M. Maya-Mendez, P. Morin, C. Samson. Control of a nonholonomic mobile robot via sensor-based target tracking and pose estimation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 5612-5618, 2006.
14. P. Morin, C. Samson. Control with transverse functions and a single generator of underactuated mechanical systems. In IEEE Conf. on Decision and Control (CDC), Pages 6110-6115, 2006.
15. P. Morin, C. Samson. Stabilization of critical nonlinear systems by the transverse function approach: a survey. In IMACS World Congress, 2005.
16. P. Morin, C. Samson. Control of underactuated mechanical systems by the transverse function approach. In IEEE Conf. on Decision and Control (CDC), Pages 7508-7513, 2005.
17. P. Morin, C. Samson. Stabilisation de trajectoires pour des véhicules non-holonomes ou sous-actionnés. In Journées Nationales de la Recherche en Robotique, Pages 217-227, 2005.
18. P. Morin, C. Samson. Stabilization of critical nonlinear systems by the transverse function approach: a survey. In IMACS World Congress, 2005.
19. P. Morin, C. Samson. Control of underactuated mechanical systems by the transverse function approach. In IEEE Conf. on Decision and Control (CDC), Pages 7508-7513, 2005.
20. P. Morin, C. Samson. Stabilisation de trajectoires pour des véhicules non-holonomes ou sous-actionnés. In Journées Nationales de la Recherche en Robotique, Pages 217-227, 2005.
21. G. Artus, P. Morin, C. Samson. Control of a maneuvering mobile robot by transverse functions. In Symp. on Advances in Robot Kinematics (ARK), 2004.
22. P. Morin, C. Samson. Trajectory tracking for non-holonomic vehicles: overview and case study. In IEEE Workshop on Robot Motion Control (RoMoCo), K. Kozlowski (ed.), Pages 139-153, 2004.
23. G. Artus, P. Morin, C. Samson. Control of a maneuvering mobile robot by transverse functions. In Symp. on Advances in Robot Kinematics (ARK), 2004.
24. P. Morin, C. Samson. Trajectory tracking for non-holonomic vehicles: overview and case study. In IEEE Workshop on Robot Motion Control (RoMoCo), K. Kozlowski (ed.), Pages 139-153, 2004.
25. G. Artus, P. Morin, C. Samson. Tracking of an omnidirectional target with a nonholonomic mobile robot. In IEEE Conf. on Advanced Robotics (ICAR), Pages 1468-1473, 2003.
26. P. Morin, C. Samson. Practical and asymptotic stabilization of the 3-D chained system by the transverse function control approach. In IEEE Conf. on Decision and Control (CDC), 2003.
27. P. Morin, C. Samson. Field oriented control of induction motors by application of the transverse function control approach. In IEEE Conf. on Decision and Control (CDC), Pages 1468-1473, 2003.
28. G. Artus, P. Morin, C. Samson. Tracking of an omnidirectional target with a nonholonomic mobile robot. In IEEE Conf. on Advanced Robotics (ICAR), Pages 1468-1473, 2003.
29. P. Morin, C. Samson. Practical and asymptotic stabilization of the 3-D chained system by the transverse function control approach. In IEEE Conf. on Decision and Control (CDC), 2003.
30. P. Morin, C. Samson. Field oriented control of induction motors by application of the transverse function control approach. In IEEE Conf. on Decision and Control (CDC), Pages 1468-1473, 2003.
31. P. Morin, C. Samson. Practical stabilization of driftless systems on Lie groups. In IEEE Conf. on Decision and Control (CDC), Pages 4272-4277, 2002.
32. P. Morin, C. Samson. Practical stabilization of driftless systems on Lie groups. In IEEE Conf. on Decision and Control (CDC), Pages 4272-4277, 2002.
33. P. Morin, C. Samson. Commande par retour d'état de systèmes non-linéaires sans dérive. L'approche par fonctions transverses. In CIFA (Conférence Internationale Francophone d'Automatique), July 2002.
34. P. Morin, C. Samson. Commande par retour d'état de systèmes non-linéaires sans dérive. L'approche par fonctions transverses. In CIFA (Conférence Internationale Francophone d'Automatique), July 2002.
35. P. Morin, C. Samson. Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions. In IEEE Conf. on Decision and Control (CDC), Pages 1761-1766, 2001.
36. P. Morin, C. Samson. Commande de véhicules sur roues non-holonomes. Une synthèse. In Journées Nationales de la Recherche en Robotique, 2001.
37. P. Morin, C. Samson. Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions. In IEEE Conf. on Decision and Control (CDC), Pages 1761-1766, 2001.
38. P. Morin, C. Samson. Commande de véhicules sur roues non-holonomes. Une synthèse. In Journées Nationales de la Recherche en Robotique, 2001.
39. P. Morin, C. Samson. Robust stabilization of driftless systems with hybrid open-loop/feedback control. In American Control Conference (ACC), Pages 3929-3933, 2000.
40. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. In IEEE Conf. on Decision and Control (CDC), 2000.
41. P. Morin, C. Samson. Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots. In IEEE Conf. on Decision and Control (CDC), 2000.
42. P. Morin, C. Samson. Robust stabilization of driftless systems with hybrid open-loop/feedback control. In American Control Conference (ACC), Pages 3929-3933, 2000.
43. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. In IEEE Conf. on Decision and Control (CDC), 2000.
44. P. Morin, C. Samson. Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots. In IEEE Conf. on Decision and Control (CDC), 2000.
45. D.A. Liz\'arraga, P. Morin, C. Samson. Non-robustness of continuous homogeneous stabilizers for affine control systems. In IEEE Conf. on Decision and Control (CDC), Pages 855-860, 1999.
46. M. Maini, P. Morin, J.-B. Pomet, C. Samson. On the robust stabilization of chained systems by continuous feedback. In IEEE Conf. on Decision and Control (CDC), Pages 3472-3477, 1999.
47. P. Morin, J.-B. Pomet, C. Samson. A note on the design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop. In IEEE Conf. on Decision and Control (CDC), Pages 5243-5246, 1999.
48. D.A. Liz\'arraga, P. Morin, C. Samson. Non-robustness of continuous homogeneous stabilizers for affine control systems. In IEEE Conf. on Decision and Control (CDC), Pages 855-860, 1999.
49. M. Maini, P. Morin, J.-B. Pomet, C. Samson. On the robust stabilization of chained systems by continuous feedback. In IEEE Conf. on Decision and Control (CDC), Pages 3472-3477, 1999.
50. P. Morin, J.-B. Pomet, C. Samson. A note on the design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of Lie brackets in closed-loop. In IEEE Conf. on Decision and Control (CDC), Pages 5243-5246, 1999.
51. D.A. Liz\'arraga, P. Morin, C. Samson. Exponential stabilization of certain configurations of the general N-trailer system. In IFAC Workshop on Motion Control, Pages 227-233, 1998.
52. P. Morin, J.-B. Pomet, C. Samson. Developments in time-varying feedback stabilization of nonlinear systems. In IFAC Nonlinear Control Systems Design Symp. (NOLCOS), Pages 587-594, 1998.
53. D.A. Liz\'arraga, P. Morin, C. Samson. Exponential stabilization of certain configurations of the general N-trailer system. In IFAC Workshop on Motion Control, Pages 227-233, 1998.
54. P. Morin, J.-B. Pomet, C. Samson. Developments in time-varying feedback stabilization of nonlinear systems. In IFAC Nonlinear Control Systems Design Symp. (NOLCOS), Pages 587-594, 1998.
55. Ch. Fran\ccois, C. Samson. Energy efficient control of the planar one-legged hopper. In Symposium on Robot Control SYROCO'97, 1997.
56. D.-P. Tsakiris, P. Rives, C. Samson. Applying visual servoing techniques to control nonholonomic mobile robots. In Int. Conf. on Intelligent Systems and Robots, IROS'97, 1997.
57. P. Morin, C. Samson. Control of nonlinear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers. In IEEE Conf. on Decision and Control (CDC), Pages 618-623, 1997.
58. D.P. Tsakiris, P. Rives, C. Samson. Applying Visual Servoing Techniques to Control Nonholonomic Mobile Robots. In Workshop on ``New Trends in Image-based Robot Servoing'', IROS, Grenoble, France, 1997.
59. P. Morin, C. Samson. Control of nonlinear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers. In IEEE Conf. on Decision and Control (CDC), Pages 618-623, 1997.
60. D.P. Tsakiris, K. Kapellos, C. Samson, P. Rives, J.J. Borrelly. Experiments in real-time vision-based point stabilization of a nonholonomic mobile manipulator. In $5^th$ International Symposium on Experimental Robotics, Barcelona, Spain, June 1997.
61. D.-P. Tsakiris, P. Rives, C. Samson. Vision-based time-varying stabilization of a mobile manipulator. In ICARCV'96, 1996.
62. P. Morin, C. Samson. Time-varying exponential stabilization of chained form system based on a backstepping technique. In IEEE Conf. on Decision and Control (CDC), Pages 1499-1454, 1996.
63. D.P. Tsakiris, C. Samson, P. Rives. Vision-Based Time Varying Stabilization of a Mobile Manipulator. In 4th Int. Conference on Control, Automation, Robotics and Vision, Westin Stamford, Singapore, 1996.
64. P. Morin, C. Samson. Time-varying exponential stabilization of chained form system based on a backstepping technique. In IEEE Conf. on Decision and Control (CDC), Pages 1499-1454, 1996.
65. P. Morin, C. Samson. Time-varying exponential stabilization of the attitude of a rigid spacecraft with two controls. In IEEE Conf. on Decision and Control (CDC), Pages 3988-3993, 1995.
66. P. Morin, C. Samson. Time-varying exponential stabilization of the attitude of a rigid spacecraft with two controls. In IEEE Conf. on Decision and Control (CDC), Pages 3988-3993, 1995.
67. A. Micaelli, C. Samson. Trajectory tracking for two-steering wheels mobile robots. In SYROCO'94, 1994.
68. J.-B. Pomet, C. Samson. Exponential stabilization of nonholonomic systems in power form. In IFAC Symposium on Robust Control Design, 1994.
69. Ch. Fran\ccois, C. Samson. Running with constant energy. In IEEE Int. Conf. on Robotics and Automation, 1994.
70. P. Morin, C. Samson, J.-B. Pomet, Z.-P. Jiang. Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls. In IEEE Conf. on Decision and Control (CDC), Pages 914-915, 1994.
71. P. Morin, C. Samson, J.-B. Pomet, Z.-P. Jiang. Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls. In IEEE Conf. on Decision and Control (CDC), Pages 914-915, 1994.
72. C. Samson. Commande de véhicules non-holonomes pour le suivi de trajectoire et la stabilisation vers une posture désirée. In Colloque Automatique pour les Véhicules Terrestres, 1993.
73. S. Icart, J. Leblond, C. Samson. Stabilizing law for a flexible arm. In IEEE Int. Conf. on Robotics and Automation, 1992.
74. C. Samson. Path following and time-varying feedback stabilization of a wheeled mobile robot. In Int. Conf. ICARCV'92, 1992.
75. K Ait-Abderrahim, C. Samson. Feedback control of a nonholonomic wheeled cart in Cartesian space. In 1991 IEEE Int. Conference on Robotics and Automation, 1991.
76. C. Canudas de Wit, C. Samson. Path following of a 2-dof wheeled mobile robot under kinematic constraints. In European Control Conference ECC 91, 1991.
77. K. Ait-Abderrahim, C. Samson. Feedback stabilization of a nonholonomic wheeled mobile robot. In IEEE/RSJ Int. Workshop on Intelligent Robots and Systems IROS'91, 1991.
78. C. Samson, B. Espiau. Application of the task-function approach to sensor-based control of robot manipulators. In IFAC'90, 1990.
79. C. Samson, M. Leborgne, B. Espiau. Robot redundancy: an automatic control approach. In NATO Advanced Research Workshop on `Robots with Redundancy: Design, Sensing and Control', 1988.
80. R. Dumas, C. Samson. Robust non-linear control of robotic manipulators: implementation aspects and simulations. In First World Conference on Robotics Research, 1984.
81. C. Samson. Robust non-linear control of robotic manipulators. In IEEE-CDC, 1983.
82. C. Samson. Fixed-point error analysis of the normalized ladder algorithm. In IEEE International Conference on Acoustics, Speech and Signal Processing, Paris, 1982.
83. D.-P. Tsakiris, K. Kapellos, P. Rives, J.-J. Borrelly, C. Samson. Experiments in real-time vision-based point stabilization of a nonholonomic mobile manipulator. In ISER'97, 97.
84. J.-P. Merlet, B. Espiau, C. Samson. Force-feedback control and proximity sensing: a unified approach. In VIII CISM-IFToMM Symposium "Ro.Man.Sy'90", 0.

Research Reports

1. P. Morin, C. Samson. Control with transverse functions and a single generator of underactuated mechanical systems. Research Report INRIA, No 5847, 2006.
2. M. Maya-Mendez, P. Morin, C. Samson. Sensor-based control of nonholonomic mobile robots. Research Report INRIA, No 5944, 2006.
3. P. Morin, C. Samson. Control with transverse functions and a single generator of underactuated mechanical systems. Research Report INRIA, No 5847, 2006.
4. M. Maya-Mendez, P. Morin, C. Samson. Sensor-based control of nonholonomic mobile robots. Research Report INRIA, No 5944, 2006.
5. M. Fruchard, P. Morin, C. Samson. A framework for the control of nonholonomic mobile manipulators. Research Report INRIA, No 5556, 2005.
6. P. Morin, C. Samson. Control of underactuated mechanical systems by the transverse function approach. Research Report INRIA, No 5525, 2005.
7. M. Fruchard, P. Morin, C. Samson. A framework for the control of nonholonomic mobile manipulators. Research Report INRIA, No 5556, 2005.
8. P. Morin, C. Samson. Control of underactuated mechanical systems by the transverse function approach. Research Report INRIA, No 5525, 2005.
9. P. Morin, C. Samson. Practical and asymptotic stabilization of chained systems by the transverse function control approach. Research Report INRIA, No 4712, 2003.
10. G. Artus, P. Morin, C. Samson. Tracking of an omnidirectional target with a unicycle-like robot: control design and experimental results. Research Report INRIA, No 4849, 2003.
11. P. Morin, C. Samson. Practical and asymptotic stabilization of chained systems by the transverse function control approach. Research Report INRIA, No 4712, 2003.
12. G. Artus, P. Morin, C. Samson. Tracking of an omnidirectional target with a unicycle-like robot: control design and experimental results. Research Report INRIA, No 4849, 2003.
13. P. Morin, C. Samson. Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions. Research Report INRIA, No 4184, 2001.
14. P. Morin, C. Samson. Practical stabilization of driftless systems on Lie groups. Research Report INRIA, No 4294, 2001.
15. P. Morin, C. Samson. Practical stabilization of driftless homogeneous systems based on the use of transverse periodic functions. Research Report INRIA, No 4184, 2001.
16. P. Morin, C. Samson. Practical stabilization of driftless systems on Lie groups. Research Report INRIA, No 4294, 2001.
17. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. Research Report INRIA, No 3873, 2000.
18. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. Research Report INRIA, No 3873, 2000.
19. P. Morin, C. Samson. A characterization of the Lie Algebra Rank Condition by transverse periodic functions. Research Report INRIA, No 3873, 2000.
20. A. De Luca, G. Oriolo, C. Samson. Feedback control of a nonholonomic car-like robot. Research Report Università degli Studi di Roma "La Sapienza", Dipartimento di Informatica e Sistemistica, No 0, 1997.
21. Ch. Fran\ccois, C. Samson. Energy efficient control of running legged robots. A case study: the planar one-legged hopper. Research Report INRIA, No 3027, 1996.
22. C. Samson. Mobile robot control. Part 2: Control of chained systems and application to path following and time-varying point stabilization of wheeled vehicles. Research Report INRIA, No 1994, 1993.
23. A. Micaelli, C. Samson. Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. Research Report INRIA, No 2097, 1993.
24. J.-B. Pomet, C. Samson. Time-varying exponential stabilization of nonholonomic systems in power form. Research Report INRIA, No 2126, 1993.
25. C. Samson. Résultats préliminaires sur la stabilisation par retour d'état instationnaire d'un robot mobile non-holonome de type voiture. Research Report INRIA, No 1512, 1991.
26. C. Samson. Time-varying feedback stabilization of nonholonomic car-like mobile robots. Research Report INRIA, No 1515, 1991.
27. C. Samson. Mobile Robot Control. Part 1: Feedback control of a nonholonomic wheeled cart in Cartesian space. Research Report INRIA, No 1288, 1990.
28. C. Samson. Une approche pour la synthese et l'analyse de la commande des robots manipulateurs. Research Report INRIA, No 669, 1987.
29. C. Samson. Commande non-linéaire robuste des robots manipulateurs. Research Report IRISA/INRIA, No 182, 1983.
30. C. Samson. Stability analysis of adaptively controlled not-necessarily minimum phase systems with disturbances. Research Report IRISA/INRIA, No 154, 1981.
31. C. Samson. Un lemme général de stabilité pour la commande adaptative en déterministe de systèmes non nécessairement à minimum de phase. Application à la réalisation d'un régulateur adaptatif. Research Report IRISA/INRIA, No 142, 1980.

Thesis

1. C. Samson. Problèmes en identification et commande de systèmes dynamiques. PhD Thesis Université de Rennes 1, 1983.
2. C. Samson. Commande adaptative à critère quadratique des systèmes à minimum de phase ou non. PhD Thesis Université de Rennes 1, 1980.

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