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The variational discretization of the constrained higher-order Lagrange-Poincaré equations

A. Bloch was supported by NSF grant DMS-1613819 and AFOSR grant FA 9550-18-0028. L. Colombo was supported by MINECO (Spain) grant MTM2016-76072-P. F. Jiménez was supported by the EPSRC project: "Fractional Variational Integration and Optimal Control"; ref: EP/P020402/1. We thank the reviewers for their valuable comments, that have helped to improve this work

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