“…On Lie groups, techniques involving rational approximation [23, p. 97], splitting [6,37], canonical coordinates of the second kind [7], and the generalized polar decomposition [24] have been studied, and many of these strategies lead to high-order approximations. For more general matrix manifolds like the Grassmannian and Stiefel manifolds, attention has been primarily restricted to methods for calculating the exponential exactly [8,1,2] or approximating it to low order [2,3,25,10]. In this context, structure-preserving approximations of the exponential are commonly referred to as retractions [2, Definition 4.1.1].…”