Lie Group Variational Collision Integrators for a Class of Hybrid Systems
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Hybrid systems of ordinary differential equations (34A38) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Nonsmooth analysis (49J52) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Collision of rigid or pseudo-rigid bodies (70F35) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)
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