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math.NA2023
Lie Group Variational Collision Integrators for a Class of Hybrid Systems
Khoa Tran, Melvin Leok
The problem of 3-dimensional, convex rigid-body collision over a plane is fully investigated; this includes bodies with sharp corners that is resolved without the need for nonsmoot…
math.NA2022
High-order symplectic Lie group methods on using the polar decomposition
Xuefeng Shen, Khoa Tran, Melvin Leok
A variational integrator of arbitrarily high-order on the special orthogonal group is constructed using the polar decomposition and the constrained Galerkin method. It has…