The hydrodynamic Chaplygin sleigh

Article: 
The hydrodynamic Chaplygin sleigh
Authors: 
Y.N. Fedorov, L.C. García-Naranjo
Journal: 
J. Phys. A: Math. Theor.
Volume: 
43
Pages: 
434013
Year: 
2010
URL: 
http://cag.epfl.ch/webdav/site/cag/users/178465/public/publications/HydroSleigh_arXiv.pdf