@article{closedformrelationsandhigherorderapproxi,
  title = {Closed Form Relations and Higher-Order Approximations of First and Second Derivatives of the Tangent Operator on SE(3)},
  author = {Andreas Mueller},
  year = {2026},
  eprint = {2604.22287},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.22287},
}