Related papers: On sub-Riemannian geodesics in $SE(3)$ whose spati…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

We consider the sub-Riemannian $3$-sphere $(\mathbb{S}^3,g_h)$ obtained by restriction of the Riemannian metric of constant curvature $1$ to the planar distribution orthogonal to the vertical Hopf vector field. It is known that…

We generalize the concept of sub-Riemannian geometry to infinite-dimensional manifolds modeled on convenient vector spaces. On a sub-Riemannian manifold $M$, the metric is defined only on a sub-bundle $\calH$ of the tangent bundle $TM$,…

The geometric constraints of Zhou et al. (2015) are a widely used technique in topology/freeform optimization to impose minimum lengthscales for manufacturability. However, its efficacy degrades as design binarization is increased, and it…

We explicitly describe the length minimizing geodesics for a sub-Riemannian structure of the elliptic type defined on $SL(2, \mathbb{R})$. Our method uses a symmetry reduction which translates the problem into a Riemannian problem on a two…

Through the use of sub-Riemannian metrics we provide quantitative estimates for the maximal tight neighbourhood of a Reeb orbit on a three-dimensional contact manifold. Under appropriate geometric conditions we show how to construct closed…

In this paper, we prove the existence of two capillary embedded geodesics with a contact angle $\theta \in (0,\pi/2)$ on Riemannian $2$-disks with strictly convex boundary, where the absence of a simple closed geodesic loop based on a point…

In this article, we first show that given a smooth function $ S $ either on closed manifolds $ (M, g) $ or compact manifolds $ (\bar{M}, g) $ with non-empty boundary, both for dimensions at least $ 3 $, the condition $ S \equiv 0 $, or $ S…

Let $X$ be a complex submanifold of dimension $d$ of $\mathbb P^m\times\mathbb P^n$ ($m\geq n\geq 2$) and denote by $\alpha\colon\Pic(\mathbb P^m\times\mathbb P^n)\to \Pic(X)$ the restriction map of Picard groups, by $N_{X|\mathbb…

In this note we describe a relation between Euler's elasticae and sub-Riemannian geodesics on SE(2). Analyzing the Hamiltonian system of Pontryagin maximum principle we show that these two curves coincide only in the case when they are…

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…

For a fat sub-Riemannian structure, we introduce three canonical Ricci curvatures in the sense of Agrachev-Zelenko-Li. Under appropriate bounds we prove comparison theorems for conjugate lengths, Bonnet-Myers type results and Laplacian…

The Johnson-Lindenstrauss Lemma states that there exist linear maps that project a set of points of a vector space into a space of much lower dimension such that the Euclidean distance between these points is approximately preserved. This…

We identify the Variational Principle governing inifinity-Harmonic maps, that is solutions to the Infinity-Laplacian. The system was first derived in the limit of the p-Laplacian as p->inifinity in [K2] and is recently studied in [K3]. Here…

We define a formal Riemannian metric on a given conformal class of metrics on a closed Riemann surface. We show interesting formal properties for this metric, in particular the curvature is nonpositive and the Liouville energy is…

This paper is concerned with the derivation of necessary conditions for the optimal shape of a design problem governed by a non-smooth PDE. The main particularity thereof is the lack of differentiability of the nonlinearity in the state…

We consider the problem of homotopy-type reconstruction of compact subsets $X\subset\R^N$ that have the Alexandrov curvature bounded above ($\leq$ $\kappa$) in the intrinsic length metric. The reconstructed spaces are in the form of…

Given a submersion $\pi:Q \to M$ with an Ehresmann connection $\mathcal{H}$, we describe how to solve Hamiltonian systems on $M$ by lifting our problem to $Q$. Furthermore, we show that all solutions of these lifted Hamiltonian systems can…

We prove rigidity results describing contextually-constrained maps defined on Grassmannians and manifolds of ordered independent line tuples in finite-dimensional vector or Hilbert spaces. One statement in the spirit of the Fundamental…

This paper presents an overview of recent developments in the analysis of shapes such as curves and surfaces through Riemannian metrics. We show that several constructions of metrics on spaces of submanifolds can be unified through the…