Related papers: On the geometry of higher-order variational proble…
Left-invariant optimal control problems on Lie groups form an important class of problems with big symmetry group. They are interesting from the theoretical point of view since they often can be completely studied, and general features can…
We develop the BRST approach to Lagrangian formulation for massive higher integer spin fields on a flat space-time of arbitrary dimension. General procedure of gauge invariant Lagrangian construction describing the dynamics of massive…
In this paper, discrete analogues of Euler-Poincar\'{e} and Lie-Poisson reduction theory are developed for systems on finite dimensional Lie groups $G$ with Lagrangians $L:TG \to {\mathbb R}$ that are $G$-invariant. These discrete equations…
We give very flexible, concrete constructions of discrete and faithful epresentations of right-angled Artin groups into higher-rank Lie groups. Using the geometry of the associated symmetric spaces and the combinatorics of the groups, we…
This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion in the case of Lie groups endowed with a left-invariant metric, and on Lie…
Employing a phase space which includes the (Riemann-Liouville) fractional derivative of curves evolving on real space, we develop a restricted variational principle for Lagrangian systems yielding the so-called restricted fractional…
The Lagrange--Poincar\'e equations for the mechanical system describing the motion of a scalar particle on a Riemannian manifold with a given free and isometric action of a compact Lie group is obtained. In an arising principle fibre…
This paper analyzes the optimal control problem of cubic polynomials on compact Lie groups from a Hamiltonian point of view and its symmetries. The dynamics of the problem is described by a presymplectic formalism associated with the…
We obtain Euler-Lagrange and transversality optimality conditions for higher-order infinite horizon variational problems on a time scale. The new necessary optimality conditions improve the classical results both in the continuous and…
In this work we study extremals on Lie groups $G$ endowed with a left invariant polyhedral Finsler structure. We use the Pontryagin's Maximal Principle (PMP) to find curves on the cotangent bundle of the group, such that its projections on…
This talk introduces a Cartan-geometric framework for generalised geometries governed by a differential graded Lie algebra. In contrast to ordinary Cartan geometry, the tangent bundle is extended and qu both a global duality group and a…
The aim of this work is to lay the foundations of differential geometry and Lie theory over the general class of topological base fields and -rings for which a differential calculus has been developed in recent work (collaboration with H.…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
In this article we discuss some general results on the covariant Picard groupoid in the context of differential geometry and interpret the problem of lifting Lie algebra actions to line bundles in the Picard groupoid approach.
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie…
We study static kink configurations in a type of two-dimensional higher derivative scalar field theory whose Lagrangian contains second-order derivative terms of the field. The linear fluctuation around arbitrary static kink solutions is…
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floating-base trees, where the base configuration evolves on SE(3)…
For For a given PDE system, or an exterior differential system possessing a Lie group of internal symmetries the orbit reduction procedure is introduced. It is proved that the solutions of the reduced exterior differential system are in…