A framework for structure-preserving integrators of nonholonomic systems on Lie groups via retraction maps, specialized using symmetries and illustrated on the Suslov problem.
Lectures on symplectic geometry
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Geometric Integrators for Nonholonomic Systems on Lie Groups
A framework for structure-preserving integrators of nonholonomic systems on Lie groups via retraction maps, specialized using symmetries and illustrated on the Suslov problem.