  This paper studies the construction of geometric integrators for nonholonomic
systems. We derive the nonholonomic discrete Euler-Lagrange equations in a
setting which permits to deduce geometric integrators for continuous
nonholonomic systems (reduced or not). The formalism is given in terms of Lie
groupoids, specifying a discrete Lagrangian and a constraint submanifold on it.
Additionally, it is necessary to fix a vector subbundle of the Lie algebroid
associated to the Lie groupoid. We also discuss the existence of nonholonomic
evolution operators in terms of the discrete nonholonomic Legendre
transformations and in terms of adequate decompositions of the prolongation of
the Lie groupoid. The characterization of the reversibility of the evolution
operator and the discrete nonholonomic momentum equation are also considered.
Finally, we illustrate with several classical examples the wide range of
application of the theory (the discrete nonholonomic constrained particle, the
Suslov system, the Chaplygin sleigh, the Veselova system, the rolling ball on a
rotating table and the two wheeled planar mobile robot).
