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The Laplace equation in the two-dimensional Euclidean plane is considered in the context of the inverse stereographic projection. The Lie algebra of the conformal group as the symmetry group of the Laplace equation can be represented solely…
We introduce a variational principle for field theories, referred to as the Hamilton-Pontryagin principle, and we show that the resulting field equations are the Euler-Lagrange equations in implicit form. Secondly, we introduce multi-Dirac…
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…
A variational framework for accelerated optimization was recently introduced on normed vector spaces and Riemannian manifolds in Wibisono et al. (2016) and Duruisseaux and Leok (2021). It was observed that a careful combination of…
A class of elliptic-hyperbolic equations is placed in the context of a geometric variational theory, in which the change of type is viewed as a change in the character of an underlying metric. A fundamental example of a metric which changes…
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to pointwise constraints on the states and control actions…
We consider optimal transport problems where the cost is optimized over controlled dynamics and the end time is free. Unlike the classical setting, the search for optimal transport plans also requires the identification of optimal "stopping…
The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section,…
We consider the calculation of Euler--Lagrange systems of ordinary difference equations, including the difference Noether's Theorem, in the light of the recently-developed calculus of difference invariants and discrete moving frames. We…
The optimal (Monge-Kantorovich) transportation problem is discussed from several points of view. The Lagrangian formulation extends the action of the {\em Lagrangian} $L(v,x,t)$ from the set of orbits in $\R^n$ to a set of measure-valued…
This paper utilizes finite Fourier series to represent a time-continuous motion and proposes a novel planning method that adjusts the motion harmonics of each manipulator joint. Primarily, we sum the potential energy for collision detection…
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place. Such discretization maps can be conveniently lifted to the…
A Hamiltonian algorithm, both theoretical and numerical, to obtain the reduced equations implementing Pontryagine's Maximum Principle for singular linear-quadratic optimal control problems is presented. This algorithm is inspired on the…
A quantum model based on a Euler-Lagrange variational approach is proposed. In analogy with the classical transport, our approach maintain the description of the particle motion in terms of trajectories in a configuration space. Our method…
We address the inverse problem of Lagrangian identification based on trajecto-ries in the context of nonlinear optimal control. We propose a general formulation of the inverse problem based on occupation measures and complementarity in…
In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…
We obtain a covariant decomposition of the motion of a relativistic charged particle into parallel motion and perpendicular gyration, and transform to guiding-center coordinates using Lie transforms. The natural guiding-center Poisson…
We present a discrete analog of the recently introduced Hamilton-Pontryagin variational principle in Lagrangian mechanics. This unifies two, previously disparate approaches to discrete Lagrangian mechanics: either using the discrete…
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
Noether's Theorem yields conservation laws for a Lagrangian with a variational symmetry group. The explicit formulae for the laws are well known and the symmetry group is known to act on the linear space generated by the conservation laws.…