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most citedNonholonomic LR systems as Generalized Chaplygin systems with an Invariant Measure and Geodesic Flows on Homogeneous Spaces

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math.DS2004

Discrete Nonholonomic LL Systems on Lie Groups

Yuri N. Fedorov, Dmitry V. Zenkov

This paper applies the recently developed theory of discrete nonholonomic mechanics to the study of discrete nonholonomic left-invariant dynamics on Lie groups. The theory is illus…