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    Discrete Nonholonomic Lagrangian Systems on Lie Groupoids
    13 years 11 months ago
    Discrete Nonholonomic Lagrangian Systems on Lie Groupoids
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    This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to de...
    David Iglesias, Juan C. Marrero, David Martí...
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