@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},
     pages = {241--266},
     year = {1996},
     publisher = {SMAI (Soci\'et\'e de math\'ematiques appliqu\'ees et industrielles)},
     address = {Paris},
     volume = {1},
     mrnumber = {1411581},
     zbl = {0874.93033},
     language = {en},
     url = {https://www.numdam.org/item/COCV_1996__1__241_0/}
}