WAVEFORM RELAXATION METHODS FOR LIE-GROUP EQUATIONS

In this paper,we derive and analyse waveform relaxation(WR)methods for solving differential equations evolving on a Lie-group.We present both continuous-time and discrete-time WR methods and study their convergence properties.In the discrete-time case,the novel methods are constructed by combining WR methods with Runge-KuttaMunthe-Kaas(RK-MK)methods.The obtained methods have both advantages of WR methods and RK-MK methods,which simplify the computation by decoupling strategy and preserve the numerical solution of Lie-group equations on a manifold.Three numerical experiments are given to illustrate the feasibility of the new WR methods.