@ARTICLE{Duleba_Ignacy_Small_2019, author={Duleba, Ignacy and Mielczarek, Arkadiusz}, volume={vol. 29}, number={No 3}, journal={Archives of Control Sciences}, pages={423–436}, howpublished={online}, year={2019}, publisher={Committee of Automatic Control and Robotics PAS}, abstract={In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implications. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability defined in an endogenous configuration space approach was presented pointing out to their advantages and disadvantages.}, type={Article}, title={Small time local controllability of driftless nonholonomic systems in a task-space}, URL={http://www.journals.pan.pl/Content/113682/PDF/02_ACS-2019-3-INTERNET.pdf}, doi={10.24425/acs.2019.130199}, keywords={nonholonomic system, small time local controllability, configuration space, task-space}, }