@InProceedings{khaneja99dynamic,
  author = 	 {Navin Khaneja and Roger W. Brockett},
  title = 	 {Dynamic Feedback Stabilization of Nonholonomic Systems},
  booktitle = 	 {Proc. 38th IEEE Conf. on Dec. and Control},
  pages = 	 {1640--1645},
  year = 	 {1999},
  address = 	 {Phoenix, AZ}
}