Geodesic
Local Controllability Bifurcations in Families of Bidynamical Systems on the Plane
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and dynamical systems, Tome 261 (2008), pp. 87-96

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We classify generic local controllability bifurcations in two-parameter families of bidynamical systems on the plane at points with nonzero velocity indicatrix. 
@article{TM_2008_261_a6,
     author = {A. A. Davydov and M. A. Komarov},
     title = {Local {Controllability} {Bifurcations} in {Families} of {Bidynamical} {Systems} on the {Plane}},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {87--96},
     publisher = {mathdoc},
     volume = {261},
     year = {2008},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2008_261_a6/}
}
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A. A. Davydov; M. A. Komarov. Local Controllability Bifurcations in Families of Bidynamical Systems on the Plane. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and dynamical systems, Tome 261 (2008), pp. 87-96. http://geodesic.mathdoc.fr/item/TM_2008_261_a6/