@article{ND_2008_4_3_a0,
     author = {A. V. Borisov and I. S. Mamaev},
     title = {Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems},
     journal = {Russian journal of nonlinear dynamics},
     pages = {223--280},
     publisher = {mathdoc},
     volume = {4},
     number = {3},
     year = {2008},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2008_4_3_a0/}
}