@article{RM_2014_69_3_a3,
     author = {A. V. Borisov and I. S. Mamaev and A. V. Tsiganov},
     title = {Non-holonomic dynamics and {Poisson} geometry},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {481--538},
     publisher = {mathdoc},
     volume = {69},
     number = {3},
     year = {2014},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/RM_2014_69_3_a3/}
}