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Zenkov, Dmitry V. and Bloch, Anthony M. and Leonard, Naomi E. et al. (2000) Matching and Stabilization of Low-dimensional Nonholonomic Systems. In: Proceedings of the 39th IEEE Conference on Decision and Control, 2000. Vol.2. IEEE , pp. 1289-1294. ISBN 0-7803-6638-7 http://resolver.caltech.edu/CaltechAUTHORS:20101026-084050990

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