Geodesic
Integrable nonholonomic systems on Lie groups
Matematičeskie zametki, Tome 44 (1988) no. 5, pp. 604-619.

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@article{MZM_1988_44_5_a4,
     author = {A. P. Veselov and L. E. Veselova},
     title = {Integrable nonholonomic systems on {Lie} groups},
     journal = {Matemati\v{c}eskie zametki},
     pages = {604--619},
     publisher = {mathdoc},
     volume = {44},
     number = {5},
     year = {1988},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MZM_1988_44_5_a4/}
}
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A. P. Veselov; L. E. Veselova. Integrable nonholonomic systems on Lie groups. Matematičeskie zametki, Tome 44 (1988) no. 5, pp. 604-619. http://geodesic.mathdoc.fr/item/MZM_1988_44_5_a4/