@InProceedings{brockett88computer,
  author = 	 {Roger W. Brockett},
  title = 	 {On the Computer Control of Movement},
  booktitle = 	 {Proc. IEEE Conf. on Robotics and Automation},
  pages = 	 {534-540},
  year = 	 {1988},
  address = 	 {Philadelphia, PA}
}