Geodesic
Geodesic flow on $SL_2\mathbb R$ with non-holonomic constraints
Zapiski Nauchnykh Seminarov POMI, Differential geometry, Lie groups and mechanics. Part VIII, Tome 155 (1986), pp. 7-17

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@article{ZNSL_1986_155_a1,
     author = {A. M. Vershik and V. Ya. Gershkovich},
     title = {Geodesic flow on $SL_2\mathbb R$ with non-holonomic constraints},
     journal = {Zapiski Nauchnykh Seminarov POMI},
     pages = {7--17},
     publisher = {mathdoc},
     volume = {155},
     year = {1986},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZNSL_1986_155_a1/}
}
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A. M. Vershik; V. Ya. Gershkovich. Geodesic flow on $SL_2\mathbb R$ with non-holonomic constraints. Zapiski Nauchnykh Seminarov POMI, Differential geometry, Lie groups and mechanics. Part VIII, Tome 155 (1986), pp. 7-17. http://geodesic.mathdoc.fr/item/ZNSL_1986_155_a1/