@article{COCV_2016__22_4_983_0,
     author = {d{\textquoteright}Andr\'ea-Novel, Brigitte and Thorel, Sylvain},
     title = {Control of non holonomic or under-actuated mechanical systems: {The} examples of the unicycle robot and the slider},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {983--1016},
     publisher = {EDP-Sciences},
     volume = {22},
     number = {4},
     year = {2016},
     doi = {10.1051/cocv/2016047},
     zbl = {1350.93068},
     language = {en},
     url = {http://archive.numdam.org/articles/10.1051/cocv/2016047/}
}