@online{untitled,
  author = {},
  title = {The {Geometry} of {Motion} — {Volume} {I:} {Tangent-Space}
    {Methods} for {Nonlinear} {Control}},
  url = {https://affinedrift.com/articles/The_Geometry_of_Motion/quarto/volume1.html},
  langid = {en}
}