Szukana fraza: [Abstract = "This paper derives controllability tests for a large class of mechanical systems characterized by nonholonomic constraints and symmetries. Recent research in geometric mechanics has led to a single, simplified framework that describes this class of systems, which includes examples such as wheeled mobile robots\; undulatory robotic and biological locomotion systems, such as paramecia, inchworms, and snakes\; as well as the reorientation of satellites and underwater vehicles."]

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