Geodesic
Local controllability in generic two-parameter families of bidynamical systems on the plane
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 63 (2008) no. 2, pp. 366-368 
M. A. Komarov. Local controllability in generic two-parameter families of bidynamical systems on the plane. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 63 (2008) no. 2, pp. 366-368. http://geodesic.mathdoc.fr/item/RM_2008_63_2_a8/
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