Flatness, tangent systems and flat outputs. - Jaume Franch (1999)

Linearization by prolongations of two-input driftless systems. - Enric Fossas; Jaume Franch; Sunil K. Agrawal (CDC, 2000)

Transformation of optimal control lagrange problems to Mayer problems with feedback linearized state equations. - Jaume Franch; Sunil K. Agrawal (ECC, 2001)

Design of differentially flat planar space robots: a step forward in their planning and control. - Jaume Franch; Sunil Kumar Agrawal; So-Ryeok Oh; Abbas Fattah (IROS, 2003)

Velocity control of a wheeled inverted pendulum by partial feedback linearization. - Kaustubh Pathak; Jaume Franch; Sunil K. Agrawal (CDC, 2004)

Planar Space Robots with Coupled Joints: Differentially Flat Designs. - Jaume Franch; Sunil Kumar Agrawal (ICRA, 2004)

Linearization by Prolongations: New Bounds on the Number of Integrators. - Jaume Franch; Enric Fossas (Eur. J. Control, 2005)

Velocity and position control of a wheeled inverted pendulum by partial feedback linearization. - Kaustubh Pathak; Jaume Franch; Sunil Kumar Agrawal (IEEE Trans. Robotics, 2005)

Design of a Differentially Flat Open-chain Space Robot with Arbitrarily Oriented Joints and two Momentum Wheels at the Base. - Sunil Kumar Agrawal; Kaustubh Pathak; Jaume Franch; Roberto Lampariello; Gerd Hirzinger (ICRA, 2006)

Design of differentially flat planar space robots and their planning and control. - Jaume Franch; Sunil Kumar Agrawal (Int. J. Control, 2008)

Control and trajectory generation of an Ackerman vehicle by dynamic linearization. - Jaume Franch; José Manuel Rodriguez-Fortun (ECC, 2009)

A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base. - Sunil Kumar Agrawal; Kaustubh Pathak; Jaume Franch; Roberto Lampariello; Gerd Hirzinger (IEEE Trans. Autom. Control., 2009)

On sufficient conditions to keep differential flatness under the addition of new inputs. - Jaume Franch; Sunil Kumar Agrawal (Int. J. Control, 2010)

Differential Flatness of a Class of n -DOF Planar Manipulators Driven by 1 or 2 Actuators. - Jaume Franch; Sunil Kumar Agrawal; Vivek Sangwan (IEEE Trans. Autom. Control., 2010)

Differentially flat design of a closed-chain planar under-actuated 2 DOF system. - Chengkun Zhang; Jaume Franch; Sunil Kumar Agrawal (ICRA, 2012)

Differential flatness of a class of n - DOF planar manipulators driven by an arbitrary number of actuators. - Jaume Franch; Alex Reyes; Sunil K. Agrawal (ECC, 2013)

Differentially Flat Design of a Closed-Chain Planar Underactuated $ hbox{2}$ -DOF System. - Chengkun Zhang; Jaume Franch; Sunil Kumar Agrawal (IEEE Trans. Robotics, 2013)

New conditions to keep static feedback linearizability under addition of new inputs. - Jaume Franch; Alex Reyes (CDC, 2014)

On computing flat outputs through Goursat normal form. - Jaume Franch; Ana Manzanera; Gemma Valero (ECC, 2014)

Formulating the Unicycle on the Sphere Path Planning Problem as a Linear Time-Varying System. - Federico Thomas; Jaume Franch (IEEE Trans. Robotics, 2025)