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Lie group methods for rigid body dynamics and time integration on manifolds

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Keywords: Geometric integration; Lie algebras; Lie groups; Numerical analysis; Numerical integration of ordinary differential equ; Time integration

Document Type: Research Article

DOI: http://dx.doi.org/10.1016/S0045-7825(02)00520-0

Affiliations: The Norwegian University of Science and Technology, 7491 , Trondheim, Norway

Publication date: January 17, 2003

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