@article{OhBlLe2010,
	Author = {T. Ohsawa and {A. M.} Bloch and M. Leok},
	Title = {Discrete {H}amilton--{J}acobi Theory and Discrete Optimal Control},
	Journal = {Proc. IEEE Conf. on Decision and Control},
	pages={5438--5443},
	Year = {2010},
	doi={10.1109/CDC.2010.5717665},
}