@article{LeLeMc2007a,
	Author = {T. Lee and M. Leok and {N. H.} McClamroch},
	Journal = {Comput. Methods Appl. Mech. Engrg.},
	Volume = {196},
	Number = {29-30},
	Pages = {2907--2924},
	Title = {{L}ie Group Variational Integrators for the Full Body Problem},
	Year = {2007},
	doi = {10.1016/j.cma.2007.01.017},
}