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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.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…