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Can anyone point me to a quantitative explanation of the geometric multigrid and Vanka smoothers? I found a qualitative article describing the GMG smoother, but it doesn't quantify how much it reduces the cost of a problem. I have found nothing yet on the Vanka smoother except that it is specialized for the incompressible Navier-Stokes equations and that it might be used for handling zeros on the diagonals of a sparse matrix. Any sources or summaries you have are much appreciated!