@inproceedings{Chi-Jea-Tre-2005,
    author={Yacine Chitour and Frédéric Jean and Emmanuel Trélat },
    title={Singular trajectories of driftless and control-affine systems },
    doi={10.1109/cdc.2005.1582278 },
    organization={44th IEEE CDC-ECC'05, Séville, Spain },
    year={2005 },
}