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Jorge Cortes - Publications

Affiliations: 
Engineering Sciences (Mechanical Engineering) University of California, San Diego, La Jolla, CA 
Area:
Mathematics, Mechanical Engineering
Website:
http://terrano.ucsd.edu/jorge/
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108 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2020 Cherukuri A, Cortes J. Iterative bidding in electricity markets: rationality and robustness Ieee Transactions On Network Science and Engineering. 7: 1265-1281. DOI: 10.1109/Tnse.2019.2921056  0.365
2020 Tallapragada P, Cortes J. Hierarchical-Distributed Optimized Coordination of Intersection Traffic Ieee Transactions On Intelligent Transportation Systems. 21: 2100-2113. DOI: 10.1109/Tits.2019.2912881  0.378
2020 Wu Y, Li SE, Cortes J, Poolla K. Distributed Sliding Mode Control for Nonlinear Heterogeneous Platoon Systems With Positive Definite Topologies Ieee Transactions On Control Systems Technology. 28: 1272-1283. DOI: 10.1109/Tcst.2019.2908146  0.364
2020 Nozari E, Cortes J. Hierarchical Selective Recruitment in Linear-Threshold Brain Networks -- Part II: Multi-Layer Dynamics and Top-Down Recruitment Ieee Transactions On Automatic Control. 1-1. DOI: 10.1109/Tac.2020.2997854  0.338
2020 Khojasteh MJ, Tallapragada P, Cortes J, Franceschetti M. The Value of Timing Information in Event-Triggered Control Ieee Transactions On Automatic Control. 65: 925-940. DOI: 10.1109/Tac.2019.2919107  0.314
2020 Liñán MB, Cortés J, Diego DMd, Martínez S, Lecanda MCM. Global controllability tests for geometric hybrid control systems Nonlinear Analysis: Hybrid Systems. 38: 100935. DOI: 10.1016/J.Nahs.2020.100935  0.329
2020 Nozari E, Tallapragada P, Cortés J. Event-triggered stabilization of nonlinear systems with time-varying sensing and actuation delay Automatica. 113: 108754. DOI: 10.1016/J.Automatica.2019.108754  0.351
2020 Ma A, Cortés J. Distributed Multi-agent Deployment for Full Visibility of 1.5D and 2.5D Polyhedral Terrains Journal of Intelligent and Robotic Systems. 1-17. DOI: 10.1007/S10846-020-01229-6  0.364
2020 Ma A, Ouimet M, Cortés J. Hierarchical reinforcement learning via dynamic subspace search for multi-agent planning Autonomous Robots. 44: 485-503. DOI: 10.1007/S10514-019-09871-2  0.634
2020 Franks PJS, Garwood JC, Ouimet M, Cortes J, Musgrave RC, Lucas AJ. Stokes drift of plankton in linear internal waves: Cross‐shore transport of neutrally buoyant and depth‐keeping organisms Limnology and Oceanography. 65: 1286-1296. DOI: 10.1002/Lno.11389  0.501
2019 Zhang Y, Cortes J. Characterizing Tolerable Disturbances for Transient-State Safety in Power Networks Ieee Transactions On Network Science and Engineering. 6: 210-224. DOI: 10.1109/Tnse.2018.2850904  0.335
2019 Stegink T, Cherukuri A, Persis CD, Schaft Avd, Cortes J. Hybrid Interconnection of Iterative Bidding and Power Network Dynamics for Frequency Regulation and Optimal Dispatch Ieee Transactions On Control of Network Systems. 6: 572-585. DOI: 10.1109/Tcns.2018.2856404  0.37
2019 Chang C, Cortes J, Martinez S. Scheduled-Asynchronous Distributed Algorithm for Optimal Power Flow Ieee Transactions On Control of Network Systems. 6: 261-275. DOI: 10.1109/Tcns.2018.2809963  0.41
2019 Cherukuri A, Cortes J. Cooperative Data-Driven Distributionally Robust Optimization Ieee Transactions On Automatic Control. 1-1. DOI: 10.1109/Tac.2019.2955031  0.403
2019 Kia SS, Scoy BV, Cortes J, Freeman RA, Lynch KM, Martinez S. Tutorial on Dynamic Average Consensus: The Problem, Its Applications, and the Algorithms Ieee Control Systems Magazine. 39: 40-72. DOI: 10.1109/Mcs.2019.2900783  0.385
2019 Nozari E, Pasqualetti F, Cortés J. Heterogeneity of central nodes explains the benefits of time-varying control scheduling in complex dynamical networks Journal of Complex Networks. 7: 659-701. DOI: 10.1093/Comnet/Cnz001  0.32
2019 Zhang Y, Cortés J. Distributed transient frequency control for power networks with stability and performance guarantees Automatica. 105: 274-285. DOI: 10.1016/J.Automatica.2019.03.017  0.356
2019 Nowzari C, Garcia E, Cortés J. Event-triggered communication and control of networked systems for multi-agent consensus Automatica. 105: 1-27. DOI: 10.1016/J.Automatica.2019.03.009  0.728
2019 Cortés J, Niederländer SK. Distributed Coordination for Nonsmooth Convex Optimization via Saddle-Point Dynamics Journal of Nonlinear Science. 29: 1247-1272. DOI: 10.1007/S00332-018-9516-4  0.447
2018 Tallapragada P, Cortes J. Distributed Control of Vehicle Strings Under Finite-Time and Safety Specifications Ieee Transactions On Control of Network Systems. 5: 1399-1411. DOI: 10.1109/Tcns.2017.2714340  0.374
2018 Nozari E, Tallapragada P, Cortes J. Differentially Private Distributed Convex Optimization via Functional Perturbation Ieee Transactions On Control of Network Systems. 5: 395-408. DOI: 10.1109/Tcns.2016.2614100  0.393
2018 Tallapragada P, Franceschetti M, Cortes J. Event-Triggered Second-Moment Stabilization of Linear Systems Under Packet Drops Ieee Transactions On Automatic Control. 63: 2374-2388. DOI: 10.1109/Tac.2017.2764067  0.359
2018 Cherukuri A, Cortes J. Distributed Coordination of DERs With Storage for Dynamic Economic Dispatch Ieee Transactions On Automatic Control. 63: 835-842. DOI: 10.1109/Tac.2017.2731809  0.368
2018 Vaquero M, Cortés J. Distributed Augmentation-Regularization for Robust Online Convex Optimization Ifac-Papersonline. 51: 230-235. DOI: 10.1016/J.Ifacol.2018.12.040  0.389
2018 Chang C, Martínez S, Cortés J. Co-Optimization of Control and Actuator Selection for Cyber-Physical Systems Ifac-Papersonline. 51: 118-123. DOI: 10.1016/J.Ifacol.2018.12.021  0.375
2017 Cherukuri A, Gharesifard B, Cortés J. Saddle-Point Dynamics: Conditions for Asymptotic Stability of Saddle Points Siam Journal On Control and Optimization. 55: 486-511. DOI: 10.1137/15M1026924  0.318
2017 Zhao Y, Cortes J. Gramian-Based Reachability Metrics for Bilinear Networks Ieee Transactions On Control of Network Systems. 4: 620-631. DOI: 10.1109/Tcns.2016.2548424  0.359
2017 Mateos-Nunez D, Cortes J. Distributed Saddle-Point Subgradient Algorithms With Laplacian Averaging Ieee Transactions On Automatic Control. 62: 2720-2735. DOI: 10.1109/Tac.2016.2616646  0.413
2016 Mateos-Nún͂ez D, Cortés J. Noise-to-State Exponentially Stable Distributed Convex Optimization on Weight-Balanced Digraphs Siam Journal On Control and Optimization. 54: 266-290. DOI: 10.1137/140978259  0.393
2016 Richert D, Cortés J. Distributed linear programming with event-triggered communication Siam Journal On Control and Optimization. 54: 1769-1797. DOI: 10.1137/140967106  0.687
2016 Richert D, Cortes J. Distributed bargaining in dyadic-exchange networks Ieee Transactions On Control of Network Systems. 3: 310-321. DOI: 10.1109/Tcns.2015.2476215  0.677
2016 Tallapragada P, Cortes J. Event-Triggered Stabilization of Linear Systems under Bounded Bit Rates Ieee Transactions On Automatic Control. 61: 1575-1589. DOI: 10.1109/Tac.2015.2480215  0.343
2016 Nowzari C, Cortés J. Team-Triggered Coordination for Real-Time Control of Networked Cyber-Physical Systems Ieee Transactions On Automatic Control. 61: 34-47. DOI: 10.1109/Tac.2015.2422491  0.726
2016 Ahmed NR, Cortes J, Martinez S. Distributed Control and Estimation of Robotic Vehicle Networks: An Overview of Part 2 Ieee Control Systems. 36: 18-21. DOI: 10.1109/Mcs.2016.2558398  0.372
2016 Ahmed N, Cortes J, Martinez S. Distributed Control and Estimation of Robotic Vehicle Networks: Overview of the Special Issue Ieee Control Systems. 36: 36-40. DOI: 10.1109/Mcs.2015.2512030  0.366
2016 Niederlander SK, Cortes J. Distributed coordination for separable convex optimization with coupling constraints Proceedings of the Ieee Conference On Decision and Control. 2016: 694-699. DOI: 10.1109/CDC.2015.7402310  0.342
2016 Ouimet M, Cortes J, Martinez S. Network integrity via coordinated motion of stratospheric vehicles Proceedings of the Ieee Conference On Decision and Control. 2016: 215-220. DOI: 10.1109/CDC.2015.7402111  0.566
2016 Cherukuri A, Mallada E, Cortés J. Asymptotic convergence of constrained primal–dual dynamics Systems & Control Letters. 87: 10-15. DOI: 10.1016/J.Sysconle.2015.10.006  0.375
2016 Cherukuri A, Cortés J. Initialization-free distributed coordination for economic dispatch under varying loads and generator commitment Automatica. 74: 183-193. DOI: 10.1016/J.Automatica.2016.07.003  0.392
2016 Ouimet M, Cortés J. Robust coordinated rendezvous of depth-actuated drifters in ocean internal waves Automatica. 69: 265-274. DOI: 10.1016/J.Automatica.2016.02.035  0.602
2016 Nowzari C, Cortés J. Distributed event-triggered coordination for average consensus on weight-balanced digraphs Automatica. 68: 237-244. DOI: 10.1016/J.Automatica.2016.01.069  0.744
2015 Cherukuri A, Cortes J. Distributed Generator Coordination for Initialization and Anytime Optimization in Economic Dispatch Ieee Transactions On Control of Network Systems. 2: 226-237. DOI: 10.1109/Tcns.2015.2399191  0.436
2015 Richert D, Cortes J. Robust distributed linear programming Ieee Transactions On Automatic Control. 60: 2567-2582. DOI: 10.1109/Tac.2015.2404451  0.677
2015 Tallapragada P, Cortés J. Coordinated intersection traffic management Ifac-Papersonline. 48: 233-239. DOI: 10.1016/J.Ifacol.2015.10.336  0.308
2015 Nozari E, Tallapragada P, Cortés J. Differentially Private Average Consensus with Optimal Noise Selection Ifac-Papersonline. 48: 203-208. DOI: 10.1016/J.Ifacol.2015.10.331  0.403
2015 Mateos-Núñez D, Cortés J. Distributed optimization for multi-task learning via nuclear-norm approximation Ifac-Papersonline. 48: 64-69. DOI: 10.1016/J.Ifacol.2015.10.308  0.372
2015 Kia SS, Cortés J, Martínez S. Distributed event-triggered communication for dynamic average consensus in networked systems Automatica. 59: 112-119. DOI: 10.1016/J.Automatica.2015.06.011  0.437
2015 Kia SS, Cortés J, Martínez S. Distributed convex optimization via continuous-time coordination algorithms with discrete-time communication Automatica. 55: 254-264. DOI: 10.1016/J.Automatica.2015.03.001  0.407
2015 Kia SS, Cortes J, Martinez S. Dynamic average consensus under limited control authority and privacy requirements International Journal of Robust and Nonlinear Control. 25: 1941-1966. DOI: 10.1002/Rnc.3178  0.424
2014 Mateos-Nunez D, Cortes J. Distributed Online Convex Optimization Over Jointly Connected Digraphs Ieee Transactions On Network Science and Engineering. 1: 23-37. DOI: 10.1109/Tnse.2014.2363554  0.435
2014 Ouimet M, Cortes J. Robust, distributed estimation of internal wave parameters via inter-drogue measurements Ieee Transactions On Control Systems Technology. 22: 980-994. DOI: 10.1109/Tcst.2013.2270952  0.578
2014 Gharesifard B, Cortes J. Distributed Continuous-Time Convex Optimization on Weight-Balanced Digraphs Ieee Transactions On Automatic Control. 59: 781-786. DOI: 10.1109/Tac.2013.2278132  0.376
2013 Nowzari C, Corteś J. Self-triggered optimal servicing in dynamic environments with acyclic structure Ieee Transactions On Automatic Control. 58: 1236-1249. DOI: 10.1109/Tac.2012.2232377  0.704
2013 Ouimet M, Cortés J. Collective estimation of ocean nonlinear internal waves using robotic underwater drifters Ieee Access. 1: 418-427. DOI: 10.1109/Access.2013.2271211  0.603
2013 Ouimet M, Cortés J. Hedonic coalition formation for optimal deployment Automatica. 49: 3234-3245. DOI: 10.1016/J.Automatica.2013.08.019  0.679
2013 Richert D, Cortés J. Optimal leader allocation in UAV formation pairs ensuring cooperation Automatica. 49: 3189-3198. DOI: 10.1016/J.Automatica.2013.07.030  0.648
2013 Fang H, Callafon RAD, CortéS J. Simultaneous input and state estimation for nonlinear systems with applications to flow field estimation Automatica. 49: 2805-2812. DOI: 10.1016/J.Automatica.2013.05.010  0.312
2013 Gharesifard B, CortéS J. Distributed convergence to Nash equilibria in two-network zero-sum games Automatica. 49: 1683-1692. DOI: 10.1016/J.Automatica.2013.02.062  0.405
2012 Feala JD, Cortes J, Duxbury PM, McCulloch AD, Piermarocchi C, Paternostro G. Statistical properties and robustness of biological controller-target networks. Plos One. 7: e29374. PMID 22235289 DOI: 10.1371/Journal.Pone.0029374  0.317
2012 Gharesifard B, Cortés J. Distributed Strategies for Generating Weight-Balanced and Doubly Stochastic Digraphs European Journal of Control. 18: 539-557. DOI: 10.3166/Ejc.18.539-557  0.388
2012 Schuresko M, Cortés J. Distributed Tree Rearrangements for Reachability and Robust Connectivity Siam Journal On Control and Optimization. 50: 2588-2620. DOI: 10.1137/090753243  0.399
2012 Aragues R, Cortes J, Sagues C. Distributed Consensus on Robot Networks for Dynamically Merging Feature-Based Maps Ieee Transactions On Robotics. 28: 840-854. DOI: 10.1109/Tro.2012.2192012  0.356
2012 Graham R, Cortes J. Adaptive Information Collection by Robotic Sensor Networks for Spatial Estimation Ieee Transactions On Automatic Control. 57: 1404-1419. DOI: 10.1109/Tac.2011.2178332  0.384
2012 Cortés J. Deployment of an unreliable robotic sensor network for spatial estimation Systems & Control Letters. 61: 41-49. DOI: 10.1016/J.Sysconle.2011.10.007  0.324
2012 Nowzari C, Cortés J. Self-triggered coordination of robotic networks for optimal deployment Automatica. 48: 1077-1087. DOI: 10.1016/J.Automatica.2012.03.009  0.719
2012 Cortés J. Brief paper: Cooperative detection of areas of rapid change in spatial fields Automatica. 48: 673-681. DOI: 10.1016/J.Automatica.2012.01.014  0.389
2012 Graham R, Cortés J. Cooperative adaptive sampling of random fields with partially known covariance International Journal of Robust and Nonlinear Control. 22: 504-534. DOI: 10.1002/Rnc.1710  0.407
2011 Aragues R, Cortes J, Sagues C. Distributed consensus algorithms for merging feature-based maps with limited communication Robotics and Autonomous Systems. 59: 163-180. DOI: 10.1016/J.Robot.2011.01.002  0.356
2010 Feala JD, Cortes J, Duxbury PM, Piermarocchi C, McCulloch AD, Paternostro G. Systems approaches and algorithms for discovery of combinatorial therapies. Wiley Interdisciplinary Reviews. Systems Biology and Medicine. 2: 181-93. PMID 20836021 DOI: 10.1002/Wsbm.51  0.386
2010 Cortes J. Coverage optimization and spatial load balancing by robotic sensor networks Ieee Transactions On Automatic Control. 55: 749-754. DOI: 10.1109/Tac.2010.2040495  0.368
2009 Cortés J, León Md, Marrero JC, Martínez E. Nonholonomic Lagrangian systems on Lie algebroids Discrete and Continuous Dynamical Systems. 24: 213-271. DOI: 10.3934/Dcds.2009.24.213  0.334
2009 Bullo F, Cortés J, Piccoli B. Special issue on control and optimization in cooperative networks Siam Journal On Control and Optimization. 48. DOI: 10.1137/Sjcodc000048000001000Vii000001  0.443
2009 Cortés J, Bullo F. Nonsmooth coordination and geometric optimization via distributed dynamical systems Siam Review. 51: 163-189. DOI: 10.1137/080737551  0.407
2009 Ganguli A, Cortés J, Bullo F. Multirobot rendezvous with visibility sensors in nonconvex environments Ieee Transactions On Robotics. 25: 340-352. DOI: 10.1109/Tro.2009.2013493  0.362
2009 Cortes J. Distributed Kriged Kalman Filter for Spatial Estimation Ieee Transactions On Automatic Control. 54: 2816-2827. DOI: 10.1109/Tac.2009.2034192  0.379
2009 Graham R, Cortes J. Asymptotic Optimality of Multicenter Voronoi Configurations for Random Field Estimation Ieee Transactions On Automatic Control. 54: 153-158. DOI: 10.1109/Tac.2008.2007179  0.372
2009 Laventall K, Cortés J. Coverage control by multi-robot networks with limited-range anisotropic sensory International Journal of Control. 82: 1113-1121. DOI: 10.1080/00207170802471211  0.388
2009 Cortés J. Global and robust formation-shape stabilization of relative sensing networks Automatica. 45: 2754-2762. DOI: 10.1016/J.Automatica.2009.09.019  0.386
2008 Benbadis F, Obraczka K, Cortés J, Brandwajn A. Exploring landmark placement strategies for topology-based localization in wireless sensor networks Eurasip Journal On Advances in Signal Processing. 2008. DOI: 10.1155/2008/275658  0.33
2008 Gavrilova M, Cortes J, Jarvis R. Computational Geometry in Navigation and Path Planning [From The Guest Editors] Ieee Robotics & Automation Magazine. 15: 6-7. DOI: 10.1109/Mra.2008.921539  0.312
2008 Cortes J. Discontinuous dynamical systems Ieee Control Systems Magazine. 28: 36-73. DOI: 10.1109/Mcs.2008.919306  0.318
2008 Gao C, Cortés J, Bullo F. Notes on averaging over acyclic digraphs and discrete coverage control Automatica. 44: 2120-2127. DOI: 10.1016/J.Automatica.2007.12.017  0.39
2008 Cortés J. Distributed algorithms for reaching consensus on general functions Automatica. 44: 726-737. DOI: 10.1016/J.Automatica.2007.07.022  0.416
2007 Martinez S, Bullo F, Cortes J, Frazzoli E. On Synchronous Robotic Networks—Part II: Time Complexity of Rendezvous and Deployment Algorithms Ieee Transactions On Automatic Control. 52: 2214-2226. DOI: 10.1109/Tac.2007.908304  0.396
2007 Martinez S, Bullo F, Cortes J, Frazzoli E. On Synchronous Robotic Networks—Part I: Models, Tasks, and Complexity Ieee Transactions On Automatic Control. 52: 2199-2213. DOI: 10.1109/Tac.2007.908301  0.348
2007 Martínez S, Cortés J, Bullo F. Motion coordination with distributed information Ieee Control Systems Magazine. 27: 75-88. DOI: 10.1109/Mcs.2007.384124  0.371
2006 Cortés J, Bullo F. Coordination and geometric optimization via distributed dynamical systems Siam Journal On Control and Optimization. 44: 1543-1574. DOI: 10.1137/S0363012903428652  0.424
2006 Cortés J, Martínez S, Bullo F. Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions Ieee Transactions On Automatic Control. 51: 1289-1298. DOI: 10.1109/Tac.2006.878713  0.426
2006 Cortés J, Vinogradov AM. Hamiltonian theory of constrained impulsive motion Journal of Mathematical Physics. 47: 42905. DOI: 10.1063/1.2192974  0.322
2006 CortéS J. Finite-time convergent gradient flows with applications to network consensus Automatica. 42: 1993-2000. DOI: 10.1016/J.Automatica.2006.06.015  0.368
2005 Martínez S, Cortés J, Bullo F. On robust rendezvous for mobile autonomous agents Ifac Proceedings Volumes (Ifac-Papersonline). 16: 115-120. DOI: 10.3182/20050703-6-Cz-1902.02071  0.427
2005 Cortés J, Van Der Schaft A, Crouch PE. Characterization of gradient control systems Siam Journal On Control and Optimization. 44: 1192-1214. DOI: 10.1137/S0363012903425568  0.325
2005 Cortés J, Martínez S, Bullo F. Spatially-distributed coverage optimization and control with limited-range interactions Esaim - Control, Optimisation and Calculus of Variations. 691-719. DOI: 10.1051/Cocv:2005024  0.418
2004 Cortés J, Martínez E. Mechanical control systems on Lie algebroids Ima Journal of Mathematical Control and Information. 21: 457-492. DOI: 10.1093/Imamci/21.4.457  0.3
2004 León Md, Cortés J, Diego DMd, Martínez S. General symmetries in optimal control Reports On Mathematical Physics. 53: 55-78. DOI: 10.1016/S0034-4877(04)90004-3  0.341
2003 Martínez S, Cortés J, Bullo F. A catalog of inverse-kinematics planners for underactuated systems on matrix Lie groups Ieee International Conference On Intelligent Robots and Systems. 1: 625-630. DOI: 10.3934/Jgm.2009.1.445  0.31
2003 Cortés J, Martínez S, Ostrowski JP, Zhang H. Simple mechanical control systems with constraints and symmetry Siam Journal On Control and Optimization. 41: 851-874. DOI: 10.1137/S0363012900381741  0.309
2003 Martínez S, Cortés J, Bullo F. Analysis and design of oscillatory control systems Ieee Transactions On Automatic Control. 48: 1164-1177. DOI: 10.1109/Tac.2003.814104  0.325
2003 Martínez S, Cortés J. Motion Control Algorithms for Simple Mechanical Systems with Symmetry Acta Applicandae Mathematicae. 76: 221-264. DOI: 10.1023/A:1023275502000  0.371
2003 Cortés J, Schaft AJvd, Crouch PE. Gradient Realization of Nonlinear Control Systems Ifac Proceedings Volumes. 36: 63-68. DOI: 10.1016/S1474-6670(17)38868-7  0.306
2003 Cortés J, Martínez S. The consistency problem in optimal control: The degenerate case Reports On Mathematical Physics. 51: 171-186. DOI: 10.1016/S0034-4877(03)80011-3  0.367
2002 Martínez S, Cortés J, Bullo F. Analysis of oscillatory control systems Ifac Proceedings Volumes (Ifac-Papersonline). 15: 241-246. DOI: 10.3182/20020721-6-Es-1901.00290  0.326
2002 Cortés J, Martínez S. Configuration Controllability of Mechanical Systems Underactuated by One Control Siam Journal On Control and Optimization. 41: 1901-1921. DOI: 10.1137/S0363012900374099  0.302
2002 Cortés J, León Md, Diego DM, Martínez S. Geometric Description of Vakonomic and Nonholonomic Dynamics. Comparison of Solutions Siam Journal On Control and Optimization. 41: 1389-1412. DOI: 10.1137/S036301290036817X  0.373
2001 Cortés J, Martínez S, Ostrowski JP, McIsaac KA. Optimal gaits for dynamic robotic locomotion International Journal of Robotics Research. 20: 707-728. DOI: 10.1177/02783640122067624  0.387
2001 Cortés J, Martínez S. Non-holonomic integrators Nonlinearity. 14: 1365-1392. DOI: 10.1088/0951-7715/14/5/322  0.302
2001 Martínez S, Cortés J, León Md. Symmetries in vakonomic dynamics: applications to optimal control Journal of Geometry and Physics. 38: 343-365. DOI: 10.1016/S0393-0440(00)00069-3  0.365
2000 Martı́nez S, Cortés J, León Md. The geometrical theory of constraints applied to the dynamics of vakonomic mechanical systems: The vakonomic bracket Journal of Mathematical Physics. 41: 2090-2120. DOI: 10.1063/1.533229  0.35
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