@article{HuLeSaBl2006,
	Author = {{I. I.} Hussein and M. Leok and {A. K.} Sanyal and {A. M.} Bloch},
	Journal = {Proc. IEEE Conf. on Design and Control},
	Pages = {6636--6641},
	Title = {A Discrete Variational Integrator for Optimal Control Problems in {$SO(3)$}},
	Year = {2006},
	doi = {10.1109/CDC.2006.377818},
}