@article{COCV_2004__10_4_526_0,
     author = {Altafini, Claudio},
     title = {Reduction by group symmetry of second order variational problems on a semidirect product of {Lie} groups with positive definite riemannian metric},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {526--548},
     publisher = {EDP-Sciences},
     volume = {10},
     number = {4},
     year = {2004},
     doi = {10.1051/cocv:2004018},
     mrnumber = {2111078},
     zbl = {1072.49001},
     language = {en},
     url = {http://www.numdam.org/articles/10.1051/cocv:2004018/}
}