@article{ZNSL_2003_300_a22,
     author = {R. Ramirez and N. Sadovskaia},
     title = {Cartesian approach for nonholonomic systems},
     journal = {Zapiski Nauchnykh Seminarov POMI},
     pages = {228--237},
     publisher = {mathdoc},
     volume = {300},
     year = {2003},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ZNSL_2003_300_a22/}
}