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Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (2002) Flat Nonholonomic Matching. In: Proceedings of the 2002 American Control Conference. Proceedings of the American Control Conference. IEEE , Piscataway, NJ, pp. 2812-2817. ISBN 0-7803-7298-0 http://resolver.caltech.edu/CaltechAUTHORS:20101026-105937515

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