Continuation of normal doubly symmetric orbits in conservative reversible systems

In this paper we introduce the concept of a quasi-submersive mapping between two finite-dimensional spaces, we obtain the main properties of such mappings, and we introduce "normality conditions" under which a particular class of so-called "constrained mappings" are quasi-submersive at their zeros. Our main application is concerned with the continuation properties of normal doubly symmetric orbits in time-reversible systems with one or more first integrals. As examples we study the continuation of the figure-eight and the supereight choreographies in the N-body problem.