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IEEE International Conference on Robotics and Automation", chapter = "A controllability test and motion planning primitives for overconstrained vehicles", year = "2001", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190625-085525709", id = "record", isbn = "0-7803-6576-3", doi = "10.1109/ROBOT.2001.933033" }