Islam I. Hussein, Melvin Leok, Amit K. Sanyal, Anthony M. Bloch. A Discrete Variational Integrator for Optimal Control Problems on SO(3). In 45th IEEE Conference on Decision and Control, CDC 2006, San Diego, CA, USA, 13-15 December, 2006. pages 6636-6641, IEEE, 2006. [doi]
Abstract is missing.