Claudio Altafini Ruggero Frezza Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group. 241-250 2003 50 Syst. Control. Lett. 3 https://doi.org/10.1016/S0167-6911(03)00168-3 https://www.wikidata.org/entity/Q57084387 db/journals/scl/scl50.html#AltafiniF03