The averaged Lagrangian method. - Elena Celledoni; Eirik Hoel Høiseth (J. Comput. Appl. Math., 2017)

Energy-Preserving Integrators Applied to Nonholonomic Systems. - Elena Celledoni; Marta Farré Puiggalí; Eirik Hoel Høiseth; David Martín de Diego (J. Nonlinear Sci., 2019)