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math-ph2004★ 21 cited
Nonholonomic systems via moving frames: Cartan equivalence and Chaplygin Hamiltonization
Kurt Ehlers, Jair Koiller, Richard Montgomery +1
A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle…
math-ph2002★ 16 cited
Moving frames for cotangent bundles
J. Koiller, P. de M. Rios, K. M. Ehlers
Cartan's moving frames method is a standard tool in riemannian geometry. We set up the machinery for applying moving frames to cotangent bundles and its sub-bundles defined by non-…