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He has published in the areas of geometric control theory, geometric mechanics, and geometric functional analysis. He has published three books: (1) Geometric Control of Mechanical Systems (with F. Bullo, Springer Texts in Applied Mathematics, 2004); (2) Time-Varying Vector Fields and Their Flows (with S. Jafarpoour, Springer Briefs in Mathematics, 2014); and (3) Tautological Control Systems (Springer Briefs in Control, 2014).
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