Geodesic
New links and reductions between the Brockett nonholonomic integrator and related systems.
Rendiconti del seminario matematico, Tome 64 (2006) no. 1, pp. 39-54.

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Keywords: systems on Lie groups, Wei-Norman method, reduction, geometric methods 
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     author = {Ramos, A.},
     title = {New links and reductions between the {Brockett} nonholonomic integrator and related systems.},
     journal = {Rendiconti del seminario matematico},
     pages = {39--54},
     publisher = {mathdoc},
     volume = {64},
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     year = {2006},
     zbl = {1170.93014},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/RSM_2006__64_1_55918/}
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Ramos, A. New links and reductions between the Brockett nonholonomic integrator and related systems.. Rendiconti del seminario matematico, Tome 64 (2006) no. 1, pp. 39-54. http://geodesic.mathdoc.fr/item/RSM_2006__64_1_55918/