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Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric https://doi.org/10.1051/cocv:2004018
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Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric https://doi.org/10.1051/cocv:2004018
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