1. Study of the dynamics of the movement of the ”Robotrain" chain. Equations of motion, particular solutions;pavlovskij;IPM im M V Keldysha,2005
2. New problems of dynamics and motion control of mobile wheeled robots;ohocimskij;Uspekhi Mekhaniki,2003
3. Application of matrix methods for compiling Maggi and Euler-Lagrange equations for nonholonomic systems;martynenko;Theoretical Mechanics Collection of scientific and methodological articles,2004
4. Study of the motion dynamics of the ”Robo train" chain. Controlled movement;evgrafov;IPM im MV Keldysha,2005
5. Autonomous Wheeled Mobile Robot Control