Two Gradient-Based Control Laws on SE(3) Derived from Distance Functions. Montenbruck, J. M.; Schmidt, G. S.; Kecskeméthy, A.; and Allgöwer, F. In Interdisciplinary Applications of Kinematic, volume 2, pages 31-41, 2015. Springer.
bibtex   
@INPROCEEDINGS{ist:montenbruck15a,
  author = {Montenbruck, J. M. and Schmidt, G. S. and Kecskem{\'e}thy, A. and
	Allg{\"o}wer, F.},
  title = {Two Gradient-Based Control Laws on {SE}(3) Derived from Distance
	Functions},
  booktitle = {Interdisciplinary Applications of Kinematic},
  year = {2015},
  volume = {2},
  pages = {31-41},
  publisher = {Springer},
  pubtype = {proceeding}
}
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