Grigoryev, Y. A.; Sozonov, A.P.; Tsiganov, A.V.
(Symmetry, Integrability and Geometry: Methods and Applications, 2016)
We show that some modern geometric methods of Hamiltonian dynamics can be directly applied to the nonholonomic Heisenberg type systems. As an example we present characteristic Killing tensors, compatible Poisson brackets, ...