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03/31/2023
Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems
Retractions maps are used to define a discretization of the tangent bund...
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03/14/2023
Discrete gradient methods for irreversible port-Hamiltonian systems
In this paper we introduce discrete gradient methods to discretize irrev...
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01/31/2022
Nonholonomic Newmark method
Using the nonholonomic exponential map, we generalize the well-known fam...
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03/26/2020
On the geometry of discrete contact mechanics
In this paper, we continue the construction of variational integrators a...
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03/25/2020