The car with N trailers : characterisation of the singular configurations
ESAIM: Control, Optimisation and Calculus of Variations, Volume 1  (1996), p. 241-266
@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},
     publisher = {EDP-Sciences},
     volume = {1},
     year = {1996},
     pages = {241-266},
     zbl = {0874.93033},
     mrnumber = {1411581},
     language = {en},
     url = {http://www.numdam.org/item/COCV_1996__1__241_0}
}
Jean, Frédéric. The car with $N$ trailers : characterisation of the singular configurations. ESAIM: Control, Optimisation and Calculus of Variations, Volume 1 (1996) , pp. 241-266. http://www.numdam.org/item/COCV_1996__1__241_0/

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