@article{ND_2014_10_4_a9,
     author = {Ian C. Rust and H. Harry Asada},
     title = {The eyeball {ROV:} {Design} and control of a spherical underwater vehicle steered by an internal eccentric mass},
     journal = {Russian journal of nonlinear dynamics},
     pages = {513--531},
     publisher = {mathdoc},
     volume = {10},
     number = {4},
     year = {2014},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2014_10_4_a9/}
}