@article{COCV_2006__12_3_409_0,
     author = {Agrachev, Andrei and Chambrion, Thomas},
     title = {An estimation of the controllability time for single-input systems on compact {Lie} groups},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {409--441},
     publisher = {EDP-Sciences},
     volume = {12},
     number = {3},
     year = {2006},
     doi = {10.1051/cocv:2006007},
     mrnumber = {2224821},
     zbl = {1106.93006},
     language = {en},
     url = {http://www.numdam.org/articles/10.1051/cocv:2006007/}
}