@article{DE_1977_13_5_a8,
     author = {R. G. Mukharlyamov},
     title = {Construction of the equations of programmed motions},
     journal = {Differencialʹnye uravneni\^a},
     pages = {869--873},
     publisher = {mathdoc},
     volume = {13},
     number = {5},
     year = {1977},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1977_13_5_a8/}
}