@article{AIHPC_2021__38_1_23_0,
     author = {Balseiro, Paula and Yapu, Luis P.},
     title = {Conserved quantities and {Hamiltonization} of nonholonomic systems},
     journal = {Annales de l'I.H.P. Analyse non lin\'eaire},
     pages = {23--60},
     publisher = {Elsevier},
     volume = {38},
     number = {1},
     year = {2021},
     doi = {10.1016/j.anihpc.2020.05.003},
     mrnumber = {4200476},
     language = {en},
     url = {http://www.numdam.org/articles/10.1016/j.anihpc.2020.05.003/}
}