@article{COCV_1996__1__241_0, author = {Jean, Fr\'ed\'eric}, title = {The car with $N$ trailers : characterisation of the singular configurations}, journal = {ESAIM: Control, Optimisation and Calculus of Variations}, pages = {241--266}, publisher = {SMAI (Soci\'et\'e de math\'ematiques appliqu\'ees et industrielles)}, address = {Paris}, volume = {1}, year = {1996}, mrnumber = {1411581}, zbl = {0874.93033}, language = {en}, url = {http://archive.numdam.org/item/COCV_1996__1__241_0/} }