@inproceedings{srinivasa2002mobip,
  title={Experiments with nonholonomic manipulation},
  author={Srinivasa, S.S. and Baker, C.R. and Sacks, E. and Reshko, G.B. and Mason, M.T. and Erdmann, M.A.},
  booktitle=icra,
  year={2002}
}