@article{LeLeMc2009a,
	Author = {T. Lee and M. Leok and {N. H.} McClamroch},
	Journal = {Proc. American Control Conf.},
	Pages = {408--413},
	Title = {Dynamics of Connected Rigid Bodies in a Perfect Fluid},
	Year = {2009},
	doi={10.1109/ACC.2009.5159850},
}