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Walsh, G. and Tilbury, D. and Sastry, S. et al. (1994) Stabilization of trajectories for systems with nonholonomic constraints. IEEE Transactions on Automatic Control, 39 (1). pp. 216-222. ISSN 0018-9286. doi:10.1109/9.273373. https://resolver.caltech.edu/CaltechAUTHORS:WALieeetac94

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