@article{Lyashko_2018 author = {Sergey I. Lyashko and Stanislav S. Zub and Victor S. Lyashko and Nataliya I. Lyashko and Andrey Yu. Chernyavskiy }, title = {Layering O+(E3) as Configuration Space while Modeling Rigid Body}, journal = {Journal of Automation and Information Sciences}, issn = {1064-2315}, year = {2018}, volume = {50}, number = {5}, pages = {1--10} }