@INCOLLECTION{MR1655025,
   AUTHOR       = {E.D. Sontag},
   BOOKTITLE    = {Essays on mathematical robotics (Minneapolis, MN, 1993)},
   PUBLISHER    = {Springer},
   TITLE        = {A general approach to path planning for systems without 
      drift},
   YEAR         = {1998},
   ADDRESS      = {New York},
   OPTCHAPTER   = {},
   OPTCROSSREF  = {},
   OPTEDITION   = {},
   OPTEDITOR    = {},
   OPTMONTH     = {},
   OPTNOTE      = {},
   OPTNUMBER    = {},
   PAGES        = {151--168},
   SERIES       = {IMA Vol. Math. Appl.},
   OPTTYPE      = {},
   VOLUME       = {104}
}

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