@misc{abderezaei2026pbdr,
  author={Abderezaei, Ava and Nechyporenko, Nataliya and Miceli, Joseph and Briscoe-Martinez, Gilberto and Roncone, Alessandro},
  title={Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation},
  year={2026},
  eprint={2603.14634},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2603.14634},
  note={GBM supported by NASA NSTGRO Grant 80NSSC22K1211.},
}