- Ugo Boscain, Benedetto Piccoli, Encyclopedia of Systems and Control, 2021, 1
- Boris Shapiro, Maxim Kazarian, “A Giambelli-type formula for subbundles of the tangent bundle”, Pacific J. Math., 230, no. 1, 2007, 233
- Davide Barilari, Ugo Boscain, Jean-Paul Gauthier, “On 2-Step, Corank 2, Nilpotent Sub-Riemannian Metrics”, SIAM J. Control Optim., 50, no. 1, 2012, 559
- Ugo Boscain, Benedetto Piccoli, Encyclopedia of Systems and Control, 2014, 1
- A. Agrachev, D. Barilari, “Sub-Riemannian structures on 3D lie groups”, J Dyn Control Syst, 18, no. 1, 2012, 21
- R.M. Murray, S.S. Sastry, 29th IEEE Conference on Decision and Control, 1990, 2097
- Nicola Arcozzi, Annalisa Baldi, “From Grushin to Heisenberg via an isoperimetric problem”, Journal of Mathematical Analysis and Applications, 340, no. 1, 2008, 165
- Jair Koiller, “Reduction of some classical non-holonomic systems with symmetry”, Arch. Rational Mech. Anal., 118, no. 2, 1992, 113
- R.M. Murray, S.S. Sastry, [1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1991, 1121
- Július Korbaš, Handbook of Global Analysis, 2008, 665