%0 Journal Article
%A Altafini, Claudio
%T Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite riemannian metric
%J ESAIM: Control, Optimisation and Calculus of Variations
%D 2004
%P 526-548
%V 10
%N 4
%I EDP-Sciences
%U http://www.numdam.org/articles/10.1051/cocv:2004018/
%R 10.1051/cocv:2004018
%G en
%F COCV_2004__10_4_526_0