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Bloch, Anthony M. and Crouch, Peter E. and Marsden, Jerrold E. et al. (1998) Discrete rigid body dynamics and optimal control. In: IEEE Conference on Decision and Control, 37th, Tampa, FL, December 1998. Vol.2. IEEE , Piscataway, NJ, pp. 2249-2254. ISBN 0-7803-4394-8 http://resolver.caltech.edu/CaltechAUTHORS:BLOieeecdc98b

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