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Rowley, Clarence W. and Marsden, Jerrold E. (2002) Variational integrators for degenerate Lagrangians, with application to point vortices. In: Proceedings of the 41st IEEE Conference on Decision and Control. Proceedings IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 1521-1527. ISBN 0-7803-7516-5 http://resolver.caltech.edu/CaltechAUTHORS:20101007-083427136

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