@article{Kobilarov:2009:LGI,
 author = {Kobilarov, Marin and Crane, Keenan and Desbrun, Mathieu},
 title = {Lie group integrators for animation and control of vehicles},
 journal = {ACM Trans. Graph.},
 volume = {28},
 issue = {2},
 month = {May},
 year = {2009},
 issn = {0730-0301},
 pages = {16:1--16:14},
 articleno = {16},
 numpages = {14},
 url = {http://doi.acm.org/10.1145/1516522.1516527},
 doi = {http://doi.acm.org/10.1145/1516522.1516527},
 acmid = {1516527},
 publisher = {ACM},
 address = {New York, NY, USA},
 keywords = {Lie group integrators, Physically-based animation, holomonic and nonholonomic constraints, vehicle simulation},
}