@article{ND_2010_6_2_a11,
     author = {A. V. Borisov and A. A. Kilin and I. S. Mamaev},
     title = {On the model of non-holonomic billiard},
     journal = {Russian journal of nonlinear dynamics},
     pages = {373--385},
     publisher = {mathdoc},
     volume = {6},
     number = {2},
     year = {2010},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2010_6_2_a11/}
}