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P. E. Crouch and R. Grossman,
Numerical integration of ordinary differential equations on
manifolds.
J. Nonlinear Sci. 3 (1993) 1-33.
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H. Munthe-Kaas.
Runge-Kutta methods on Lie groups.
BIT 38 (1998) 92-111.
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H. Munthe-Kaas.
High order Runge-Kutta methods on manifolds.
Appl. Numer. Math. 29 (1999) 115-127.
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B. Owren and A. Marthinsen.
Runge-Kutta methods adapted to manifolds and based on rigid
frames.
BIT 39 (1999) 116-142.
Ernst Hairer
2002-03-05