Discrete Nonholonomic Lagrangian Systems on Lie Groupoids. - David Iglesias Ponte; Juan Carlos Marrero; David Martín de Diego; Eduardo Martínez (J. Nonlinear Sci., 2008)

Morse Families In Optimal Control Problems. - María Barbero-Liñán; David Iglesias Ponte; David Martín de Diego (SIAM J. Control. Optim., 2015)