KobilarovCD09'

@article{DBLP:journals/tog/KobilarovCD09,
  author    = {Marin Kobilarov and
               Keenan Crane and
               Mathieu Desbrun},
  title     = {Lie group integrators for animation and control of vehicles},
  journal   = {ACM Trans. Graph.},
  volume    = {28},
  number    = {2},
  year      = {2009},
  ee        = {http://doi.acm.org/10.1145/1516522.1516527},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}