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Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…

The space of all Riemannian metrics on a smooth second countable finite dimensional manifold is itself a smooth manifold modeled on the space of symmetric (0,2)-tensor fields with compact support. It carries a canonical Riemannian metric…

Let $M=G/H$ be a compact, simply connected, Riemannian homogeneous space, where $G$ is (almost) effective and $H$ is a simple Lie group. In this paper, we first classify all $G$-naturally reductive metrics on $M$, and then all $G$-geodesic…

A generalized Stiefel manifold is the manifold of orthonormal frames in a vector space with a non-degenerated bilinear or hermitian form. In this article, the Isometry group of the generalized Stiefel manifolds are computed at least up to…

We classify totally geodesic submanifolds of the real Stiefel manifolds of orthogonal two-frames. We also classify polar actions on these Stiefel manifolds, specifically, we prove that the orbits of polar actions are lifts of polar actions…

This paper is a review of recent and classical results on integrable geodesic flows on Riemannian manifolds and topological obstructions to integrability. We also discuss some open problems.

We describe homogeneous sub-Riemannian geodesics for the standard sub-Riemannian structure on the group of proper motions of the plane SE(2). We show that this structure is not geodesically orbital, although the cut time is invariant w.r.t.…

Two homogeneous pseudo-riemannian manifolds $(G/H, ds^2)$ and $(G'/H', ds'^2)$ belong to the same {\it real form family} if their complexifications $(G_{\mathbb C}/H_{\mathbb C}, ds_{\mathbb C}^2)$ and $(G'_{\mathbb C}/H'_{\mathbb C},…

We propose a geometrical approach to the investigation of Hamiltonian systems on (Pseudo) Riemannian manifolds. A new geometrical criterion of instability and chaos is proposed. This approach is more generic than well known reduction to the…

This note proves that any locally extremal non-self-conjugate geodesic loop in a Riemannian manifold is a closed geodesic. As a consequence, any complete and non-contractible Riemannian manifold with diverging injectivity radii along…

We are interested in the geometry of the group $\mathcal{D}_q(M)$ of diffeomorphisms preserving a contact form $\theta$ on a manifold $M$. We define a Riemannian metric on $\mathcal{D}_q(M)$, compute the corresponding geodesic equation, and…

The consideration of the so-called rotation minimizing frames allows for a simple and elegant characterization of plane and spherical curves in Euclidean space via a linear equation relating the coefficients that dictate the frame motion.…

In this article, the ray tracing method is studied beyond the classical geometrical theory. The trajectories are here regarded as geodesics in a Riemannian manifold, whose metric and topological properties are those induced by the…

The geometric approach to optimal transport and information theory has triggered the interpretation of probability densities as an infinite-dimensional Riemannian manifold. The most studied Riemannian structures are Otto's metric, yielding…

A geodesic cycle is a closed curve that connects finitely many points along geodesics. We study geodesic cycles on the sphere in regard to their role in equal-weight quadrature rules and approximation.

The goal of this paper is to study periodic geodesics for sub-Riemannian metrics on a contact 3D-manifold.We develop two rather independent subjects:1) The existence of closed geodesics spiraling around periodic Reeb orbits for a generic…

We investigate the geodesic orbit property of pseudo-Riemannian nilmanifolds, specifically those known in the literature as pseudo $H$-type Lie groups -- i.e., 2-step nilpotent Lie groups of Heisenberg type equipped with a left invariant…

We describe a construction of Riemannian metrics of nonnegative sectional curvature on a closed smooth nonorientable 4-manifold with fundamental group of order two that realizes a homotopy class that was not previously known to contain…

In this work we show that there is a Riemannian groupoid whose orbits are the closures of the leaves of a regular Riemannian foliation on a compact manifold. This groupoid is equivalent (in a generalized sense of Haefliger) with a…

A geodesic flower is a finite collection of geodesic loops based at the same point $p$ that satisfy the following balancing condition: The sum of all unit tangent vectors to all geodesic arcs meeting at $p$ is equal to the zero vector. In…