@article{ND_2010_6_4_a7,
     author = {A. V. Bolsinov and A. V. Borisov and I. S. Mamaev},
     title = {Hamiltonisation of non-holonomic systems in the neighborhood of invariant manifolds},
     journal = {Russian journal of nonlinear dynamics},
     pages = {829--854},
     publisher = {mathdoc},
     volume = {6},
     number = {4},
     year = {2010},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2010_6_4_a7/}
}