A Covariant Formulation of Classical Spinning Particle
  Covariantly we reformulate the description of a spinning particle in terms of the Poincar\'{e} group. We also construct a Lagrangian which entails all possible constraints explicitly; all constraints can be obtained just from the Lagrangian. Furthermore, in this covariant reformulation, the Lorentz element is to be considered to evolve the momentum or spin component from an arbitrary fixed frame and not just from the particle rest frame. In distinction with the usual formulation, our system is directly comparable with the pseudo-classical formulation. We get a peculiar symmetry which resembles the supersymmetry of the pseudo-classical formulation. 
Jin-Ho Cho, Seungjoon Hyun and Jae-Kwan Kim