@article{COCV_2011__17_2_322_0,
     author = {Ober-Bl\"obaum, Sina and Junge, Oliver and Marsden, Jerrold E.},
     title = {Discrete mechanics and optimal control: {An} analysis},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {322--352},
     publisher = {EDP-Sciences},
     volume = {17},
     number = {2},
     year = {2011},
     doi = {10.1051/cocv/2010012},
     mrnumber = {2801322},
     language = {en},
     url = {http://archive.numdam.org/articles/10.1051/cocv/2010012/}
}