In this paper we develop, study, and test a Lie group multisymplectic integra- tor for geometrically exact beams based on the covariant Lagrangian formulation. We exploit the multisymplectic character of the integrator to analyze the energy and momentum map conservations associated to the temporal and spatial discrete evolutions.
Tudor Ratiu, François Gay-Balmaz, François Marie Alain Demoures, Alejandro Marcos Aragon, Mathieu Desbrun
Tudor Ratiu, François Gay-Balmaz, François Marie Alain Demoures