Alexander A. Kilin, Elena N. Pivovarova, Tatyana B. Ivanova, “Spherical Robot of Combined Type: Dynamics and Control”, Regul. Chaotic Dyn., 20:6 (2015), 716–728
Balseiro P., Fernandez O.E., “Reduction of Nonholonomic Systems in Two Stages and Hamiltonization”, Nonlinearity, 28:8 (2015), 2873–2912
Alexander P. Ivanov, “On the Control of a Robot Ball Using Two Omniwheels”, Regul. Chaotic Dyn., 20:4 (2015), 441–448
Valery V. Kozlov, “The Dynamics of Systems with Servoconstraints. I”, Regul. Chaotic Dyn., 20:3 (2015), 205–224
Fernandez O.E., “Poincaré Transformations in Nonholonomic Mechanics”, Appl. Math. Lett., 43 (2015), 96–100
Yury L. Karavaev, Alexander A. Kilin, “The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform”, Regul. Chaotic Dyn., 20:2 (2015), 134–152
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “On the Hadamard–Hamel Problem and the Dynamics of Wheeled Vehicles”, Regul. Chaotic Dyn., 20:6 (2015), 752–766
А. В. Борисов, И. С. Мамаев, И. А. Бизяев, “Иерархия динамики при качении твердого тела без проскальзывания и верчения по плоскости и сфере”, Нелинейная динам., 9:2 (2013), 141–202
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
Alberto G. Rojo, Anthony M. Bloch, “Optical mechanical analogy and Hamiltonization of a nonholonomic system”, Phys. Rev. E, 88:1 (2013)