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Bou-Rabee, Nawaf and Marsden, Jerrold E. (2009) Hamilton–Pontryagin integrators on Lie groups part I: introduction and structure-preserving properties. Foundations of Computational Mathematics, 9 (2). pp. 197-219. ISSN 1615-3375. http://resolver.caltech.edu/CaltechAUTHORS:20090811-135447283

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