@article{ND_2012_8_4_a10,
     author = {Sergey V. Bolotin},
     title = {The problem of optimal control of a {Chaplygin} ball by internal rotors},
     journal = {Russian journal of nonlinear dynamics},
     pages = {837--852},
     publisher = {mathdoc},
     volume = {8},
     number = {4},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2012_8_4_a10/}
}