Geodesic
Local Controllability Bifurcations in Families of Bidynamical Systems on the Plane
Informatics and Automation, 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. 
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A. A. Davydov; M. A. Komarov. Local Controllability Bifurcations in Families of Bidynamical Systems on the Plane. Informatics and Automation, Differential equations and dynamical systems, Tome 261 (2008), pp. 87-96. http://geodesic.mathdoc.fr/item/TRSPY_2008_261_a6/

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