@article{TM_2016_295_a8,
     author = {Yu. L. Karavaev and A. A. Kilin},
     title = {Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {174--183},
     publisher = {mathdoc},
     volume = {295},
     year = {2016},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2016_295_a8/}
}