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- 2014
- Aspects of reduction and transformation of Lagrangian systems with symmetry
- 2012
- Routh reduction and the class of magnetic Lagrangian systems
- 2011
- Routh reduction by stages
- 2010
- Routhian reduction for quasi-invariant Lagrangians
- 2005
- A Lie algebroid framework for non-holonomic systems
- 2003
- Generalised connections over a vector bundle map