Kinodynamic Planning on Constraint Manifolds. - Ricard Bordalba; Lluís Ros; Josep M. Porta (CoRR, 2017)

Randomized Planning of Dynamic Motions Avoiding Forward Singularities. - Ricard Bordalba; Lluís Ros; Josep M. Porta (ARK, 2018)

Randomized Kinodynamic Planning for Constrained Systems. - Ricard Bordalba; Lluís Ros; Josep M. Porta (ICRA, 2018)

A Singularity-Robust LQR Controller for Parallel Robots. - Ricard Bordalba; Josep M. Porta; Lluís Ros (IROS, 2018)

A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems. - Ricard Bordalba; Lluís Ros; Josep M. Porta (IEEE Trans. Robotics, 2021)

Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems. - Ricard Bordalba; Tobias Schoels; Lluís Ros; Josep M. Porta; Moritz Diehl (IEEE Trans. Robotics, 2023)