Controllability of affine right-invariant systems on solvable Lie groups. - Yuri L. Sachkov (Discret. Math. Theor. Comput. Sci., 1997)

Integrability by quadratures in optimal control of a unicycle on hyperbolic plane. - Yasir Awais Butt; Aamer Iqbal Bhatti; Yuri L. Sachkov (ACC, 2015)