@article{RM_2017_72_5_a0,
     author = {A. V. Borisov and I. S. Mamaev and I. A. Bizyaev},
     title = {Dynamical systems with non-integrable constraints, vakonomic mechanics, {sub-Riemannian} geometry, and non-holonomic mechanics},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {783--840},
     year = {2017},
     volume = {72},
     number = {5},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/RM_2017_72_5_a0/}
}