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Instead of searching for docs in google i guess reverse-engineering on your own will be the best way to understand the approval workflows. Navigate to OIM_HOME/server/workflows/composites. It will contain all the approval workflow zip files. Unzip the required one which you want to understand and there will be a .jws file in it. Now open that in jdeveloper and open AprrovalProcess.bpel and composite.xml. It will show how the approval routes and what are the business rules written, everything. It is the best way to understand the approval workflows.
In the same way u can make changes to the out-of-the-box approval workflows also. See this OBE tutorial to understand how you can assign the approval to a group
Also please try the approval workflow given in the developer's guide which covers most of the basics.