Geodesic
Reduction of nonholonomic variation problems to isoperimetric ones and connections in principal bundles
Matematičeskie zametki, Tome 49 (1991) no. 5, pp. 37-44.

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     author = {A. M. Vershik and O. A. Granichina},
     title = {Reduction of nonholonomic variation problems to isoperimetric ones and connections in principal bundles},
     journal = {Matemati\v{c}eskie zametki},
     pages = {37--44},
     publisher = {mathdoc},
     volume = {49},
     number = {5},
     year = {1991},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MZM_1991_49_5_a5/}
}
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A. M. Vershik; O. A. Granichina. Reduction of nonholonomic variation problems to isoperimetric ones and connections in principal bundles. Matematičeskie zametki, Tome 49 (1991) no. 5, pp. 37-44. http://geodesic.mathdoc.fr/item/MZM_1991_49_5_a5/