Bill Goodwine, Joel W. Burdick. Controllability of kinematic control systems on stratified configuration spaces. IEEE Trans. Automat. Contr., 46(3):358-368, 2001. [doi]
@article{GoodwineB01,
title = {Controllability of kinematic control systems on stratified configuration spaces},
author = {Bill Goodwine and Joel W. Burdick},
year = {2001},
doi = {10.1109/9.911414},
url = {http://dx.doi.org/10.1109/9.911414},
researchr = {https://researchr.org/publication/GoodwineB01},
cites = {0},
citedby = {0},
journal = {IEEE Trans. Automat. Contr.},
volume = {46},
number = {3},
pages = {358-368},
}