@article{DE_1973_9_11_a6,
     author = {I. A. Mukhametzyanov},
     title = {Contruction of the equations of programmed motions restricted by unilateral constraints},
     journal = {Differencialʹnye uravneni\^a},
     pages = {1983--1993},
     publisher = {mathdoc},
     volume = {9},
     number = {11},
     year = {1973},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1973_9_11_a6/}
}