Richard M. Murray. Nilpotent bases for a class of nonintegrable distributions with applications to trajectory generation for nonholonomic systems. MCSS, 7(1):58-75, 1994. [doi]
@article{Murray94,
title = {Nilpotent bases for a class of nonintegrable distributions with applications to trajectory generation for nonholonomic systems},
author = {Richard M. Murray},
year = {1994},
doi = {10.1007/BF01211485},
url = {http://dx.doi.org/10.1007/BF01211485},
researchr = {https://researchr.org/publication/Murray94},
cites = {0},
citedby = {0},
journal = {MCSS},
volume = {7},
number = {1},
pages = {58-75},
}