@InProceedings{brockett99explicitly,
  author = 	 {Roger W. Brockett},
  title = 	 {Explicitly Solvable Control Problems with Nonholonomic Constraints},
  booktitle = 	 {Proc. 38th IEEE Conf. on Dec. and Control},
  pages = 	 {13--16},
  year = 	 {1999},
  address = 	 {Phoenix, AZ}
}