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Chang, Dong Eui and Marsden, Jerrold E. (2003) Gyroscopic Forces and Collision Avoidance with Convex Obstacles. In: New Trends in Nonlinear Dynamics and Control and their Applications. Lecture Notes in Control and Information Sciences. Vol.295. Springer Berlin , pp. 145-159. ISBN 9783540404743. https://resolver.caltech.edu/CaltechAUTHORS:20100730-114620195

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