Related papers: Symmetries in left-invariant optimal control probl…
We consider a control problem where the system is driven by a decoupled as well as a coupled forward-backward stochastic differential equation. We prove the existence of an optimal control in the class of relaxed controls, which are…
This paper presents a derivation of the parallel transport equation expressed in the Lie algebra of a Lie group endowed with a left-invariant metric.The use of this equation is exemplified on the group of rigid body motions SE(3), using…
We compute the full isometry group of any left invariant metric on a simply connected, non-unimodular Lie group of dimension three. As an application, we determine the index of symmetry of such metrics and prove that the singularities of…
Hilbert--Lie groups are Lie groups whose Lie algebra is a real Hilbert space whose scalar product is invariant under the adjoint action. These infinite-dimensional Lie groups are the closest relatives to compact Lie groups. Here we study…
In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…
Extended formulations are an important tool in polyhedral combinatorics. Many combinatorial optimization problems require an exponential number of inequalities when modeled as a linear program in the natural space of variables. However, by…
All known examples of homogeneous Einstein metrics of negative Ricci curvature can be realized as left-invariant Riemannian metrics on solvable Lie groups. After defining a notion of maximal symmetry among left-invariant Riemannian metrics…
We consider the class of control systems where the differential equation, state and control system are described by polynomials. Given a set of trajectories and a class of Lagrangians, we are interested to find a Lagrangian in this class…
A Lie group $G$ endowed with a left invariant Riemannian metric $g$ is called Riemannian Lie group. Harmonic and biharmonic maps between Riemannian manifolds is an important area of investigation. In this paper, we study different aspects…
We apply optimal control techniques to an inhomogeneous spin ensemble coupled to a cavity. A general procedure is proposed for designing the control strategies. We numerically show the extent to which optimal control fields robust against…
This paper revisits the classical Linear Quadratic Gaussian (LQG) control from a modern optimization perspective. We analyze two aspects of the optimization landscape of the LQG problem: 1) connectivity of the set of stabilizing controllers…
In this paper we are concerned with various graph invariants (girth, diameter, expansion constants, eigenvalues of the Laplacian, tree number) and their analogs for weighted graphs -- weighing the graph changes a combinatorial problem to…
We study global optimization of non-convex functions through optimal control theory. Our main result establishes that (quasi-)optimal trajectories of a discounted control problem converge globally and practically asymptotically to the set…
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…
The generalized Lie symmetries of almost regular Lagrangians are studied, and their impact on the evolution of dynamical systems is determined. It is found that if the action has a generalized Lie symmetry, then the Lagrangian is…
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…
An optimal ergodic control problem (EC problem, for short) is investigated for a linear stochastic differential equation with quadratic cost functional. Constant nonhomogeneous terms, not all zero, appear in the state equation, which lead…
In this paper, first using the higher derived brackets, we give the controlling algebra of relative difference Lie algebras, which are also called crossed homomorphisms or differential Lie algebras of weight 1 when the action is the adjoint…
We consider the problem of solving a smooth convex optimization problem with equality and inequality constraints in a distributed fashion. Assuming that we have a group of agents available capable of communicating over a communication…
A family of optimal control problems for a single and two coupled spinning particles in the Euler-Lagrange formalism is discussed. A characteristic of such problems is that the equations controlling the system are implicit and a reduction…