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Tilbury, Dawn and Murray, Richard M. and Sastry, S. Shankar (1995) Trajectory generation for the N-trailer problem using Goursat normal form. IEEE Transactions on Automatic Control, 40 (5). pp. 802-819. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:TILieeetac95

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