Oscar E. Fernandez, Anthony M. Bloch, Tom Mestdag. The pontryagin maximum principle applied to nonholonomic mechanics. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008, December 9-11, 2008, CancĂșn, MĂ©xico. pages 4306-4311, IEEE, 2008. [doi]
Abstract is missing.