An explicit desingularization procedure for general nonholonomic systems

Yacine Chitour, Frédéric Jean, Ruixing Long. An explicit desingularization procedure for general nonholonomic systems. In Proceedings of the 49th IEEE Conference on Decision and Control, CDC 2010, December 15-17, 2010, Atlanta, Georgia, USA. pages 5402-5407, IEEE, 2010. [doi]

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