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@ARTICLE{blanco2021gfm,
    author = {Blanco, Jos{\'{e}}-Luis and Leanza, Antonio and Reina, Giulio},
     month = {{{{{aug}}}}},
     title = {A general framework for modeling and dynamic simulation of multibody systems using factor graphs},
   journal = {Nonlinear Dynamics},
    volume = {105},
    number = {3},
      year = {2021},
      issn = {0924-090X},
       url = {http://arxiv.org/abs/2101.02874},
       doi = {10.1007/s11071-021-06731-6},
     pages = {2031--2053}
}