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, objectif de cette thèse est, d'une part, de fournir des méthodes de planification de mouvements pour les systèmes non-holonomes, et d'autre part
, Planification de mouvements, systèmes non-holonomes, géométrie sousriemannienne , approximation nilpotente, méthode de continuation, problème de roulement, équation de Schrödinger, contrôlabilité spectrale, minimalité des familles exponentielles, contrôlabilité générique