Explicit sub-Riemannian geodesics for the Heisenberg approximation of the rolling disc, with the first cut point derived from the isotropy symmetry.
Monroy-Prez and A
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Geometric control theory of vertical rolling disc using symmetries
Explicit sub-Riemannian geodesics for the Heisenberg approximation of the rolling disc, with the first cut point derived from the isotropy symmetry.