V. Acary and B. Brogliato, Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics, Lecture Notes in Applied and Computational Mechanics, vol.35, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00423530

P. Alart and A. Curnier, A mixed formulation for frictional contact problems prone to Newton like solution methods, Computer Methods in Applied Mechanics and Engineering, vol.92, issue.3, pp.353-375, 1991.
DOI : 10.1016/0045-7825(91)90022-X

V. Acary and F. Pérignon, An introduction to Siconos, 2007.
URL : https://hal.archives-ouvertes.fr/inria-00162911

]. F. Cad09 and . Cadoux, Méthodes d'optimisation pour la dynamique nonrégulì ere, 2009.

F. Jourdan, P. Alart, and M. Jean, A Gauss-Seidel like algorithm to solve frictional contact problems, Computer Methods in Applied Mechanics and Engineering, vol.155, issue.1-2, pp.31-47, 1998.
DOI : 10.1016/S0045-7825(97)00137-0

J. Moreau, Unilateral contact and dry friction in finite freedom dynamics. Nonsmooth mechanics and applications, CISM Courses Lect, pp.1-82, 1988.

M. Renouf, V. Acary, and G. Dumont, 3d frictional contact and impact multibody dynamics. a comparison of algorithms suitable for real-time applications, ECCOMAS, 2005.
URL : https://hal.archives-ouvertes.fr/inria-00424054