A. A. Kilin, Yu. L. Karavaev, “Kinematicheskaya model upravleniya sferorobotom s neuravnoveshennoi omnikolesnoi platformoi”, Nelineinaya dinam., 10:4 (2014), 497–511
Yacine Chitour, Mauricio Godoy Molina, Petri Kokkonen, Springer INdAM Series, 5, Geometric Control Theory and Sub-Riemannian Geometry, 2014, 103
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “The Problem of Drift and Recurrence for the Rolling Chaplygin Ball”, Regul. Chaotic Dyn., 18:6 (2013), 832–859
Alexey V. Borisov, Ivan S. Mamaev, Ivan A. Bizyaev, “The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere”, Regul. Chaotic Dyn., 18:3 (2013), 277–328
Mikhail Svinin, Akihiro Morinaga, Motoji Yamamoto, “On the Dynamic Model and Motion Planning for a Spherical Rolling Robot Actuated by Orthogonal Internal Rotors”, Regul. Chaotic Dyn., 18:1-2 (2013), 126–143
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “How to Control the Chaplygin Ball Using Rotors. II”, Regul. Chaotic Dyn., 18:1-2 (2013), 144–158
A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Kak upravlyat sharom Chaplygina pri pomoschi rotorov. II”, Nelineinaya dinam., 9:1 (2013), 59–76
A. V. Borisov, I. S. Mamaev, I. A. Bizyaev, “Ierarkhiya dinamiki pri kachenii tverdogo tela bez proskalzyvaniya i vercheniya po ploskosti i sfere”, Nelineinaya dinam., 9:2 (2013), 141–202
I. A. Bizyaev, A. V. Borisov, I. S. Mamaev, “Dinamika negolonomnykh sistem, sostoyaschikh iz sfericheskoi obolochki s podvizhnym tverdym telom vnutri”, Nelineinaya dinam., 9:3 (2013), 547–566
A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Problema dreifa i vozvraschaemosti pri kachenii shara Chaplygina”, Nelineinaya dinam., 9:4 (2013), 721–754