most citedReview of the Exponential and Cayley Map on SE(3) as relevant for Lie Group Integration of the Generalized Poisson Equation and Flexible Multibody Systems

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math.DG2023★ 43 cited

Review of the Exponential and Cayley Map on SE(3) as relevant for Lie Group Integration of the Generalized Poisson Equation and Flexible Multibody Systems

Andreas Mueller

The exponential and Cayley map on SE(3) are the prevailing coordinate maps used in Lie group integration schemes for rigid body and flexible body systems. Such geometric integrator…