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MR1661989 (99i:65082) 65L99 (22E99 34A45 34C40 58F25 65M99)
Munthe-Kaas, Hans; Zanna, Antonella Numerical integration of differential equations on homogeneous manifolds. Foundations of computational mathematics (Rio de Janeiro, 1997), 305--315, Springer, Berlin, 1997.
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