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MR1195215 (93j:93123) 93D15 (93B25 93B27 93C85 93D20)
Bloch, Anthony M.; Reyhanoglu, Mahmut; McClamroch, N. Harris Control and stabilization of nonholonomic dynamic systems. IEEE Trans. Automat. Control 37 (1992), no. 11, 1746–1757.
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