Related papers: Second-order variational problems on Lie groupoids…
In this paper we present the solution to a longstanding problem of differential geometry: Lie's third theorem for Lie algebroids. We show that the integrability problem is controlled by two computable obstructions. As applications we…
In this paper we develop, study, and test a Lie group multisymplectic integra- tor for geometrically exact beams based on the covariant Lagrangian formulation. We exploit the multisymplectic character of the integrator to analyze the energy…
Lie symmetry group method is applied to study the boundary-layer equations for two-dimensional steady flow of an incompressible, viscous fluid near a stagnation point at a heated stretching sheet placed in a porous medium equation. The…
Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…
In this work, we propose and study a new approach to formulate the optimal control problem of second-order differential equations, with a particular interest in those derived from force-controlled Lagrangian systems. The formulation results…
In this article we study constrained variational problems in one independent variable defined on the space of integral curves of a Frenet system in a homogeneous space G/H. We prove that if the Lagrangian is G-invariant and coisotropic then…
We establish a variety of results extending the well-known Pontryagin maximum principle of optimal control to discrete-time optimal control problems posed on smooth manifolds. These results are organized around a new theorem on critical and…
We consider control-linear left-invariant time-optimal problems on step 2 Carnot groups with strictly convex set of control parameters (in particular, sub-Finsler problems). We describe all linear-in-momenta Casimirs on the dual of the Lie…
We study, using an optimal control point of view, higher-order variational problems of Herglotz type with time delay. Main results are higher-order Euler-Lagrange and DuBois-Reymond necessary optimality conditions as well as a higher-order…
We investigate higher-order geometric $k$-splines for template matching on Lie groups. This is motivated by the need to apply diffeomorphic template matching to a series of images, e.g., in longitudinal studies of Computational Anatomy. Our…
We reconsider the variational derivation of symplectic partitioned Runge-Kutta schemes. Such type of variational integrators are of great importance since they integrate mechanical systems with high order accuracy while preserving the…
This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system…
In this second part of the paper, we consider finite difference Lagrangians which are invariant under linear and projective actions of $SL(2)$, and the linear equi-affine action which preserves area in the plane. We first find the…
A large class of variational equations for geometric objects is studied. The results imply conformal monotonicity and Liouville theorems for steady, polytropic, ideal flow, and the regularity of weak solutions to generalized Yang-Mills and…
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…
Motivated by the problem of longitudinal data assimilation, e.g., in the registration of a sequence of images, we develop the higher-order framework for Lagrangian and Hamiltonian reduction by symmetry in geometric mechanics. In particular,…
We discuss the problem of the existence of a regular invariant Lagrangian for a given system of invariant second-order differential equations on a Lie group $G$, using approaches based on the Helmholtz conditions. Although we deal with the…
We study in optimal control the important relation between invariance of the problem under a family of transformations, and the existence of preserved quantities along the Pontryagin extremals. Several extensions of Noether theorem are…
This paper is a study of the Lie groups of point symmetries admitted by a system describing a non-stationary planar flow of an ideal plastic material. For several types of forces involved in the system, the infinitesimal generators which…
A scheme for generating a family of convex variational principles is developed, the Euler- Lagrange equations of each member of the family formally corresponding to the necessary conditions of optimal control of a given system of ordinary…