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Marsden, Jerrold E. and Pekarsky, Sergey and Shkoller, Steve (1999) Discrete Euler-Poincaré and Lie-Poisson equations. Nonlinearity, 12 (6). pp. 1647-1662. ISSN 0951-7715. doi:10.1088/0951-7715/12/6/314. https://resolver.caltech.edu/CaltechAUTHORS:MARnonlin99

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