Geodesic
Nonholonomic dynamical systems. Geometry of distributions and variational problems
Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Fundamental'nye Napravleniya , Dynamical systems – 7, Tome 16 (1987), pp. 5-85.

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     author = {A. M. Vershik and V. Ya. Gershkovich},
     title = {Nonholonomic dynamical systems. {Geometry} of distributions and variational problems},
     journal = {Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Fundamental'nye Napravleniya },
     pages = {5--85},
     publisher = {mathdoc},
     volume = {16},
     year = {1987},
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     url = {http://geodesic.mathdoc.fr/item/INTF_1987_16_a0/}
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A. M. Vershik; V. Ya. Gershkovich. Nonholonomic dynamical systems. Geometry of distributions and variational problems. Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Fundamental'nye Napravleniya , Dynamical systems – 7, Tome 16 (1987), pp. 5-85. http://geodesic.mathdoc.fr/item/INTF_1987_16_a0/