@article{JCA_2012_19_4_JCA_2012_19_4_a10,
     author = {M. I. Krastanov},
     title = {On the {Small-time} {Local} {Controllability}},
     journal = {Journal of convex analysis},
     pages = {1073--109},
     publisher = {mathdoc},
     volume = {19},
     number = {4},
     year = {2012},
     url = {http://geodesic.mathdoc.fr/item/JCA_2012_19_4_JCA_2012_19_4_a10/}
}