Related papers: Rolling against a sphere: The non transitive case

The purpose of this paper is to study the Sasakian geometry on odd dimensional sphere bundles over a smooth projective algebraic variety $N$ with the ultimate, but probably unachievable goal of understanding the existence and non-existence…

Let $(M,\langle,\rangle_{TM})$ be a Riemannian manifold. It is well-known that the Sasaki metric on $TM$ is very rigid but it has nice properties when restricted to $T^{(r)}M=\{u\in TM,|u|=r \}$. In this paper, we consider a general…

We define the notion of holonomy group for a stable vector bundle F on a variety in terms of the Narasimhan--Seshadri unitary representation of its restriction to curves. Next we relate the holonomy group to the minimal structure group and…

First we survey and explain the strategy of some recent results that construct holomorphic $\text{sl}(2, \mathbb C)$-differential systems over some Riemann surfaces $\Sigma_g$ of genus $g\geq 2$, satisfying the condition that the image of…

In the present paper we give a historical account -ranging from classical to modern results- of the problem of rolling two Riemannian manifolds one on the other, with the restrictions that they cannot instantaneously slip or spin one with…

We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…

In the present paper, we study the infinitesimal symmetries of the model of two Riemannian manifolds $(M,g)$ and $(\hat M,\hat g)$ rolling without twisting or slipping. We show that, under certain genericity hypotheses, the natural bundle…

The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…

We present an intrinsic formulation of the kinematic problem of two $n-$dimensional manifolds rolling one on another without twisting or slipping. We determine the configuration space of the system, which is an $\frac{n(n+3)}2-$dimensional…

We construct two-dimensional families of complex hyperbolic structures on disc orbibundles over the sphere with three cone points. This contrasts with the previously known examples of the same type, which are locally rigid. In particular,…

We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…

Natural metric structures on tangent bundles and tangent sphere bundles enclose many important problems, from the topology of the base to the determination of their holonomy. We make here a brief study of the topic. We find the…

We study a rolling model from the perspective of probability. More precisely, we consider a Riemannian manifold rolling against Euclidean space, where the rolling is coupled with random slipping and twisting. The system is modelled by a…

A Riemannian metric on a manifold M induces a family of Riemannian metrics on the loop space LM depending on a Sobolev space parameter s. We compute the connection forms of these metrics and the higher symbols of their curvature forms,…

Here is considered application of Spin(m) groups in theory of quantum control of chain with spin-1/2 systems. It may be also compared with m-dimensional analogues of Bloch sphere, but has nontrivial distinctions for chain with more than one…

We study the rolling of the Chaplygin ball in $\mathbb R^n$ over a fixed $(n-1)$--dimensional sphere without slipping and without slipping and twisting. The problems can be naturally considered within a framework of appropriate…

We investigate the nonlinear holomorphic supersymmetry for quantum-mechanical systems on Riemann surfaces subjected to an external magnetic field. The realization is shown to be possible only for Riemann surfaces with constant curvature…

We study the interplay between geodesics on two non-holono\-mic systems that are related by the action of a Lie group on them. After some geometric preliminaries, we use the Hamiltonian formalism to write the parametric form of geodesics.…

We discuss smooth nonlinear control systems with symmetry. For a free and proper action of the symmetry group, the reduction of symmetry gives rise to a reduced smooth nonlinear control system. If the action of the symmetry group is only…

The unit sphere $\mathbb S^3$ can be identified with the unitary group SU(2). Under this identification the unit sphere can be considered as a non-commutative Lie group. The commutation relations for the vector fields of the corresponding…