Related papers: Synchronization over Cartan motion groups via cont…
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
For a given graph $\mathcal{G}$ of order $n$ with $m$ edges, and a real symmetric matrix associated to the graph, $M\left(\mathcal{G}\right)\in\mathbb{R}^{n\times n}$, the interlacing graph reduction problem is to find a graph…
The problem of synchronization of coupled Hamiltonian systems exhibits interesting features due to the non-uniform or mixed nature (regular and chaotic) of the phase space. We study these features by investigating the synchronization of…
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…
The efficacy of using complexifications to understand the structure of real algebraic groups is demonstrated. In particular the following results are proved: a) If L is an algebraic subgroup of a connected real algebraic group G such that…
This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the…
Transformation Synchronization is the problem of recovering absolute transformations from a given set of pairwise relative motions. Despite its usefulness, the problem remains challenging due to the influences from noisy and outlier…
The COntractor REnormalization group (CORE) method, a new approach to solving Hamiltonian lattice systems, is introduced. The method combines contraction and variational techniques with the real-space renormalization group approach. It…
Many biological systems synchronize their movement through physical interactions. By far the most well studied examples concern physical interactions through a fluid: beating cilia, swimming sperm and worms, and flapping wings, all display…
In this paper, we examine Lie group actions on moduli spaces (sets themselves built as quotients by group actions) and their fixed points. We show that when the Lie group is compact and connected, we obtain a linear constraint. This…
Various alignment problems arising in cryo-electron microscopy, community detection, time synchronization, computer vision, and other fields fall into a common framework of synchronization problems over compact groups such as Z/L, U(1), or…
A new geometric procedure to construct symplectic methods for constrained mechanical systems is developed in this paper. The definition of a map coming from the notion of retraction maps allows to adapt the continuous problem to the…
Dirac algorithm allows to construct Hamiltonian systems for singular systems, and so contributing to its successful quantization. A drawback of this method is that the resulting quantized theory does not have manifest Lorentz invariance.…
We study Hamiltonian reductions of the free geodesic motion on a non-compact simple Lie group using as reduction group the direct product of a maximal compact subgroup and the fixed point subgroup of an arbitrary involution commuting with…
In its most general form, the optimal transport problem is an infinite-dimensional optimization problem, yet certain notable instances admit closed-form solutions. We identify the common source of this tractability as \textit{symmetry} and…
We study independent and identically distributed random iterations of continuous maps defined on a connected closed subset $S$ of the Euclidean space $\mathbb{R}^{k}$. We assume the maps are monotone (with respect to a suitable partial…
We classify compact manifolds of dimension three equipped with a path structure and a fixed contact form (which we refer to as a strict path structure) under the hypothesis that their automorphism group is non-compact. We use a Cartan…
In this paper we extend to a generic class of piecewise smooth dynamical systems a fundamental tool for the analysis of convergence of smooth dynamical systems: contraction theory. We focus on switched systems satisfying Caratheodory…
There are three key factors of a system of coupled oscillators that characterize the interaction among them: coupling (how to affect), delay (when to affect) and topology (whom to affect). For each of them, the existing work has mainly…
Attached to any reductive Lie group $G$ is a "Cartan motion group" $G_0$ $-$ a Lie group with the same dimension as $G$, but a simpler group structure. A natural one-to-one correspondence between the irreducible tempered representations of…