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

It was conjectured, twenty years ago, the following result that would generalize the so-called rank rigidity theorem for homogeneous Euclidean submanifolds: let M^n, n>=2, be a full and irreducible homogeneous submanifold of the sphere…

We study a family of nonholonomic mechanical systems. These systems consist of harmonic oscillators coupled through nonholonomic constraints. In particular, the family includes the so called contact oscillator, which has been used as a test…

It is shown that the horizontal holonomy group of a K-contact sub-Riemannian manifold either coincides with the holonomy group of a Riemannian manifold, or it is a codimension-one normal subgroup of the later group. The question of…

We study the observability of the Schr\"odinger equation on $X$, a non-compact covering space of a compact hyperbolic surface $M$. Using a generalized Bloch theory, functions on $X$ are identified as sections of flat Hilbert bundles over…

A well-known and interesting family of sub-Riemannian space are the systems involving two balls rolling against each other without slipping or twisting. In this note, we show how the sub-Riemannian geodesics of these space, when the two…

The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison…

Let ($M$, $\Omega$) be a smooth symplectic manifold and $f:M\rightarrow M$ be a symplectic diffeomorphism of class $C^l$ ($l\geq 3$). Let $N$ be a compact submanifold of $M$ which is boundaryless and normally hyperbolic for $f$. We suppose…

We consider monopoles with singularities of Dirac type on quasiregular Sasakian three-folds fibering over a compact Riemann surface $\Sigma$, for example the Hopf fibration $S^3\longrightarrow S^2$. We show that these correspond to…

We consider H\"older continuous cocycles over an accessible partially hyperbolic system with values in the group of diffeomorphisms of a compact manifold $M$. We obtain several results for this setting. If a cocycle is bounded in…

In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…

This article studies the harmonicity of vector fields on Riemannian manifolds, viewed as maps into the tangent bundle equipped with a family of Riemannian metrics. Geometric and topological rigidity conditions are obtained, especially for…

We define and study natural $\mathrm{SU}(2)$-structures, in the sense of Conti-Salamon, on the total space $\cal S$ of the tangent sphere bundle of any given oriented Riemannian 3-manifold $M$. We recur to a fundamental exterior…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

We study the holonomy that is associated to a sub-Riemannian structure defined on the kernel of a global contact form. This includes the holonomy of Schouten's horizontal connection as well as of the adapted connection, both canonical…

This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a transition in order to comply with the new imposed conditions.…

We formalize the ``metric bundle'' viewpoint by defining, for any smooth $n$--manifold $M$, the open fiberwise cones $\mathcal{G}^{p,q}\subset S^2\Tstar M$ of nondegenerate symmetric bilinear forms with fixed signature $(p,q)$, and we…

A compact topological surface S, possibly non-orientable and with non-empty boundary, always admits a Klein surface structure (an atlas whose transition maps are dianalytic). Its complex cover is, by definition, a compact Riemann surface M…

Problems involving control of large ensmebles of structurally identical dynamical systems, called \emph{ensemble control}, arise in numerous scientific areas from quantum control and robotics to brain medicine. In many of such applications,…

In this paper we complete the classification of spin manifolds admitting parallel spinors, in terms of the Riemannian holonomy groups. More precisely, we show that on a given n-dimensional Riemannian manifold, spin structures with parallel…

The set of unrestricted homotopy classes $[M,S^n]$ where $M$ is a closed and connected spin $(n+1)$-manifold is called the $n$-th cohomotopy group $\pi^n(M)$ of $M$. Moreover it is known that $\pi^n(M) = H^n(M;\mathbb Z) \oplus \mathbb Z_2$…