3 papers
math.NA2026
Geometric Integrators for Nonholonomic Systems on Lie Groups
Viyom Vivek, David Martin de Diego, Ravi N. Banavar
We present a general framework for constructing structure-preserving numerical integrators for nonholonomically constrained mechanical systems evolving on Lie groups using retracti…
math.GM2026
A Geometric Approach to Structure-Preserving Integrators for Mechanical Systems
Viyom Vivek, David Martin de Diego, Ravi N. Banavar
We develop a geometric framework for the numerical integration of mechanical systems evolving on manifolds. After briefly reviewing classical numerical methods and highlighting the…
math.NA2025
Numerical Integrators for Mechanical Systems on Lie Groups
Viyom Vivek, David Martin de Diego, Ravi N Banavar
Retraction maps are known to be the seed for all numerical integrators. These retraction maps-based integrators can be further lifted to tangent and cotangent bundles, giving rise…