Geodesic
Rolling Balls and Octonions
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Analysis and singularities. Part 1, Tome 258 (2007), pp. 17-27

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In this semi-expository paper we disclose hidden symmetries of a classical nonholonomic kinematic model and try to explain the geometric meaning of the basic invariants of vector distributions. 
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     author = {A. A. Agrachev},
     title = {Rolling {Balls} and {Octonions}},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
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     publisher = {mathdoc},
     volume = {258},
     year = {2007},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2007_258_a2/}
}
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A. A. Agrachev. Rolling Balls and Octonions. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Analysis and singularities. Part 1, Tome 258 (2007), pp. 17-27. http://geodesic.mathdoc.fr/item/TM_2007_258_a2/