Rolling with “slipping” : I
Séminaire de probabilités de Strasbourg, Tome 17 (1983), pp. 194-197. 
@article{SPS_1983__17__194_0,
     author = {Price, Gareth C. and Williams, David},
     title = {Rolling with {\textquotedblleft}slipping{\textquotedblright} : {I}},
     journal = {S\'eminaire de probabilit\'es de Strasbourg},
     pages = {194--197},
     publisher = {Springer - Lecture Notes in Mathematics},
     volume = {17},
     year = {1983},
     mrnumber = {770411},
     zbl = {0524.60062},
     language = {en},
     url = {http://www.numdam.org/item/SPS_1983__17__194_0/}
}
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Price, Gareth C.; Williams, David. Rolling with “slipping” : I. Séminaire de probabilités de Strasbourg, Tome 17 (1983), pp. 194-197. http://www.numdam.org/item/SPS_1983__17__194_0/

[1] J. Jacod, A general theorem of representation for martingales, Probability (ed. J.L. Doob), Proc. Symp. Pure Math. Amer. Math. Soc. XXXI (1977), 37-54. | MR | Zbl