Proceedings of the Steklov Institute of Mathematics

, Volume 258, Issue 1, pp 13–22

Rolling balls and octonions


DOI: 10.1134/S0081543807030030

Cite this article as:
Agrachev, A.A. Proc. Steklov Inst. Math. (2007) 258: 13. doi:10.1134/S0081543807030030


In this semi-expository paper we disclose hidden symmetries of a classical nonholonomic kinematic model and try to explain the geometric meaning of the basic invariants of vector distributions.

Copyright information

© Pleiades Publishing, Ltd. 2007

Authors and Affiliations

  1. 1.SISSA/ISASTriesteItaly
  2. 2.Steklov Institute of MathematicsRussian Academy of SciencesMoscowRussia