@InProceedings{morgansen99nonholonomic,
  author = 	 {Kristi Morgansen and Roger W. Brockett},
  title = 	 {Nonholonomic Control Based on Approximate Inversion},
  booktitle = 	 {Proc. 1999 American Control Conference},
  pages = 	 {3515--3519},
  year = 	 {1999},
  address = 	 {San Diego CA}
}