“…These integrators retain some of the main geometric properties of continuous systems, such as symplecticity and momentum conservation (as long as the symmetry survives the discretization procedure), and good (bounded) behavior of the energy associated to the system. This class of numerical methods has been applied to a wide range of problems including optimal control [9], [10], constrained systems [11], [12], power systems [13], nonholonomic systems [14], [15], [16], multi-agent systems [17], [18], [19], and systems on Lie groups [20], [21]. Variational integrators for hybrid mechanical systems were used in [22] and [23].…”