@conference {MB98-CDC,
	title = {Steering Driftless Nonholonomic Systems by Control Quanta},
	booktitle = {Proc. IEEE Int. Conf. on Decision and Control},
	year = {1998},
	pages = {4164-4169},
	keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems},
	author = {A. Marigo and A. Bicchi}
}
