@article{ND_2015_11_4_a8,
     author = {A. V. Borisov and I. S. Mamaev},
     title = {Symmetries and reduction in nonholonomic mechanics},
     journal = {Russian journal of nonlinear dynamics},
     pages = {763--823},
     publisher = {mathdoc},
     volume = {11},
     number = {4},
     year = {2015},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2015_11_4_a8/}
}