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Bloch, Anthony M. and Crouch, Peter E. and Marsden, Jerrold E. et al. (2008) Optimal Control and Geodesics on Quadratic Matrix Lie Groups. Foundations of Computational Mathematics, 8 (4). pp. 469-500. ISSN 1615-3375. http://resolver.caltech.edu/CaltechAUTHORS:20100715-090459941

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