The car with N trailers : characterisation of the singular configurations
ESAIM: Control, Optimisation and Calculus of Variations, Tome 1 (1996), pp. 241-266 
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     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/}
}
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Jean, Frédéric. The car with $N$ trailers : characterisation of the singular configurations. ESAIM: Control, Optimisation and Calculus of Variations, Tome 1 (1996), pp. 241-266. https://www.numdam.org/item/COCV_1996__1__241_0/

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