@article{SIGMA_2016_12_a111,
     author = {Yury A. Grigoryev and Alexey P. Sozonov and Andrey V. Tsiganov},
     title = {Integrability of {Nonholonomic} {Heisenberg} {Type} {Systems}},
     journal = {Symmetry, integrability and geometry: methods and applications},
     year = {2016},
     volume = {12},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/SIGMA_2016_12_a111/}
}