@article{JEMS_2015_17_2_a2,
     author = {Simon Hochgerner and Tudor S. Ratiu},
     title = {Geometry of non-holonomic diffusion},
     journal = {Journal of the European Mathematical Society},
     pages = {273--319},
     publisher = {mathdoc},
     volume = {17},
     number = {2},
     year = {2015},
     doi = {10.4171/jems/504},
     url = {http://geodesic.mathdoc.fr/articles/10.4171/jems/504/}
}