Francesco Bullo, Milos Zefran. On mechanical control systems with nonholonomic constraints and symmetries. Systems & Control Letters, 45(2):133-143, 2002. [doi]
@article{BulloZ02-1,
title = {On mechanical control systems with nonholonomic constraints and symmetries},
author = {Francesco Bullo and Milos Zefran},
year = {2002},
doi = {10.1016/S0167-6911(01)00173-6},
url = {http://dx.doi.org/10.1016/S0167-6911(01)00173-6},
researchr = {https://researchr.org/publication/BulloZ02-1},
cites = {0},
citedby = {0},
journal = {Systems & Control Letters},
volume = {45},
number = {2},
pages = {133-143},
}