{"id":"https://openalex.org/W1968006802","doi":"https://doi.org/10.1007/s00332-007-9012-8","title":"Discrete Nonholonomic Lagrangian Systems on Lie Groupoids","display_name":"Discrete Nonholonomic Lagrangian Systems on Lie Groupoids","publication_year":2007,"publication_date":"2007-12-07","ids":{"openalex":"https://openalex.org/W1968006802","doi":"https://doi.org/10.1007/s00332-007-9012-8","mag":"1968006802"},"language":"en","primary_location":{"id":"doi:10.1007/s00332-007-9012-8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00332-007-9012-8","pdf_url":null,"source":{"id":"https://openalex.org/S131276044","display_name":"Journal of Nonlinear Science","issn_l":"0938-8974","issn":["0938-8974","1432-1467"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Nonlinear Science","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/0704.1543","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110617953","display_name":"David Iglesias","orcid":null},"institutions":[{"id":"https://openalex.org/I4210095385","display_name":"Instituto de F\u00edsica Fundamental","ror":"https://ror.org/009wseg80","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210095385"]},{"id":"https://openalex.org/I4210117526","display_name":"Unidades Centrales Cient\u00edfico-T\u00e9cnicas","ror":"https://ror.org/01wdt4y78","country_code":"ES","type":"facility","lineage":["https://openalex.org/I2801357902","https://openalex.org/I4210117526","https://openalex.org/I4387152914"]},{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"David Iglesias","raw_affiliation_strings":["Instituto de Matem\u00e1ticas y F\u00edsica Fundamental, Consejo Superior de Investigaciones Cient\u00edficas, Serrano 123, 28006, Madrid, Spain","Consejo Superior de Investigaciones Cient\u00edficas"],"affiliations":[{"raw_affiliation_string":"Instituto de Matem\u00e1ticas y F\u00edsica Fundamental, Consejo Superior de Investigaciones Cient\u00edficas, Serrano 123, 28006, Madrid, Spain","institution_ids":["https://openalex.org/I4210095385","https://openalex.org/I134820265"]},{"raw_affiliation_string":"Consejo Superior de Investigaciones Cient\u00edficas","institution_ids":["https://openalex.org/I4210117526","https://openalex.org/I134820265"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036992611","display_name":"Juan Carlos Marrero","orcid":"https://orcid.org/0000-0003-3341-515X"},"institutions":[{"id":"https://openalex.org/I158438070","display_name":"Universidad de La Laguna","ror":"https://ror.org/01r9z8p25","country_code":"ES","type":"education","lineage":["https://openalex.org/I158438070"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan C. Marrero","raw_affiliation_strings":["Departamento de Matem\u00e1tica Fundamental, Facultad de Matem\u00e1ticas, Universidad de la Laguna, La Laguna, Tenerife, Canary Islands, Spain","Universidad de la Laguna"],"affiliations":[{"raw_affiliation_string":"Departamento de Matem\u00e1tica Fundamental, Facultad de Matem\u00e1ticas, Universidad de la Laguna, La Laguna, Tenerife, Canary Islands, Spain","institution_ids":["https://openalex.org/I158438070"]},{"raw_affiliation_string":"Universidad de la Laguna","institution_ids":["https://openalex.org/I158438070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061941032","display_name":"David Mart\u0131\u0301n de Diego","orcid":"https://orcid.org/0000-0001-6762-8909"},"institutions":[{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]},{"id":"https://openalex.org/I4210117526","display_name":"Unidades Centrales Cient\u00edfico-T\u00e9cnicas","ror":"https://ror.org/01wdt4y78","country_code":"ES","type":"facility","lineage":["https://openalex.org/I2801357902","https://openalex.org/I4210117526","https://openalex.org/I4387152914"]},{"id":"https://openalex.org/I4210095385","display_name":"Instituto de F\u00edsica Fundamental","ror":"https://ror.org/009wseg80","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210095385"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Mart\u00edn de Diego","raw_affiliation_strings":["Instituto de Matem\u00e1ticas y F\u00edsica Fundamental, Consejo Superior de Investigaciones Cient\u00edficas, Serrano 123, 28006, Madrid, Spain","Consejo Superior de Investigaciones Cient\u00edficas"],"affiliations":[{"raw_affiliation_string":"Instituto de Matem\u00e1ticas y F\u00edsica Fundamental, Consejo Superior de Investigaciones Cient\u00edficas, Serrano 123, 28006, Madrid, Spain","institution_ids":["https://openalex.org/I4210095385","https://openalex.org/I134820265"]},{"raw_affiliation_string":"Consejo Superior de Investigaciones Cient\u00edficas","institution_ids":["https://openalex.org/I4210117526","https://openalex.org/I134820265"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067906335","display_name":"Eduardo Mart\u0131\u0301nez","orcid":"https://orcid.org/0000-0003-3270-5681"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Mart\u00ednez","raw_affiliation_strings":["Departamento de Matem\u00e1tica Aplicada and IUMA, Facultad de Ciencias, Universidad de Zaragoza, 50009, Zaragoza, Spain","Universidad de Zaragoza"],"affiliations":[{"raw_affiliation_string":"Departamento de Matem\u00e1tica Aplicada and IUMA, Facultad de Ciencias, Universidad de Zaragoza, 50009, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Universidad de Zaragoza","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5110617953"],"corresponding_institution_ids":["https://openalex.org/I134820265","https://openalex.org/I4210095385","https://openalex.org/I4210117526"],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":null,"fwci":7.9073,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.96892412,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"18","issue":"3","first_page":"221","last_page":"276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.9220542907714844},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6339101195335388},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5261251926422119},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.4822171926498413},{"id":"https://openalex.org/keywords/submanifold","display_name":"Submanifold","score":0.4376770257949829},{"id":"https://openalex.org/keywords/legendre-transformation","display_name":"Legendre transformation","score":0.42260587215423584},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.3465004563331604},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.33724743127822876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.24145430326461792},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0654776394367218}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.9220542907714844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6339101195335388},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5261251926422119},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.4822171926498413},{"id":"https://openalex.org/C151300846","wikidata":"https://www.wikidata.org/wiki/Q125539","display_name":"Submanifold","level":2,"score":0.4376770257949829},{"id":"https://openalex.org/C116594300","wikidata":"https://www.wikidata.org/wiki/Q908652","display_name":"Legendre transformation","level":2,"score":0.42260587215423584},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.3465004563331604},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.33724743127822876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.24145430326461792},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0654776394367218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s00332-007-9012-8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00332-007-9012-8","pdf_url":null,"source":{"id":"https://openalex.org/S131276044","display_name":"Journal of Nonlinear Science","issn_l":"0938-8974","issn":["0938-8974","1432-1467"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Nonlinear Science","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:0704.1543","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0704.1543","pdf_url":"https://arxiv.org/pdf/0704.1543","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.312.2913","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.312.2913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/0704.1543v1.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/2273","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/2273","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"art\u00edculo"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:0704.1543","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0704.1543","pdf_url":"https://arxiv.org/pdf/0704.1543","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W622622984","https://openalex.org/W1524590822","https://openalex.org/W1544770838","https://openalex.org/W1545372241","https://openalex.org/W1564824121","https://openalex.org/W1602862713","https://openalex.org/W1603561442","https://openalex.org/W1836566228","https://openalex.org/W1975029261","https://openalex.org/W1979251648","https://openalex.org/W1979753632","https://openalex.org/W1984062601","https://openalex.org/W1989711829","https://openalex.org/W1993300073","https://openalex.org/W1995297324","https://openalex.org/W1999111109","https://openalex.org/W2003161517","https://openalex.org/W2011414186","https://openalex.org/W2014613771","https://openalex.org/W2018164776","https://openalex.org/W2019151447","https://openalex.org/W2040269741","https://openalex.org/W2042015302","https://openalex.org/W2050472176","https://openalex.org/W2055315817","https://openalex.org/W2067980435","https://openalex.org/W2073184752","https://openalex.org/W2084367325","https://openalex.org/W2090100301","https://openalex.org/W2110504905","https://openalex.org/W2113753258","https://openalex.org/W2122828732","https://openalex.org/W2145165891","https://openalex.org/W2146354864","https://openalex.org/W2156537362","https://openalex.org/W2170039048","https://openalex.org/W2171751904","https://openalex.org/W2229890456","https://openalex.org/W2487311598","https://openalex.org/W2883047660","https://openalex.org/W2947056241","https://openalex.org/W2951677482","https://openalex.org/W2963459514","https://openalex.org/W3013347551","https://openalex.org/W3092549130","https://openalex.org/W3101561814","https://openalex.org/W3101680306","https://openalex.org/W3102895026","https://openalex.org/W4205727720","https://openalex.org/W4243502888","https://openalex.org/W4255858329","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W4249701897","https://openalex.org/W71119328","https://openalex.org/W2107308837","https://openalex.org/W360452402","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W2147558862","https://openalex.org/W4378942199","https://openalex.org/W4247004153"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}