Related papers: A micro Lie theory for state estimation in robotic…
These lecture notes in Lie Groups are designed for a 1--semester third year or graduate course in mathematics, physics, engineering, chemistry or biology. This landmark theory of the 20th Century mathematics and physics gives a rigorous…
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…
Currently state estimation is very important for the robotics, and the uncertainty representation based Lie group is natural for the state estimation problem. It is necessary to exploit the geometry and kinematic of matrix Lie group…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
We discuss the basic properties of Lie groupoids, Lie algebroids and Lie pseudo-groups in view of applying these techniques to the analysis of Jordan-H\"older resolutions and, subsequently, to the integration of partial differential…
Data in non-Euclidean spaces are commonly encountered in many fields of Science and Engineering. For instance, in Robotics, attitude sensors capture orientation which is an element of a Lie group. In the recent past, several researchers…
Lie systems form a class of systems of first-order ordinary differential equations whose general solutions can be described in terms of certain finite families of particular solutions and a set of constants, by means of a particular type of…
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape…
The aim of this paper is to present aspects of the use of Lie groups in mechanics. We start with the motion of the rigid body for which the main concepts are extracted. In a second part, we extend the theory for an arbitrary Lie group and…
Many relevant applications of group theoretical methods to physical problems are related, in some manner, to classification schemes by means of symmetry groups. In these schemes, irreducible representations of a Lie group have to be…
A Lie groupoid can be thought of as a generalization of a Lie group in which the multiplication is only defined for certain pairs of elements. From another perspective, Lie groupoids can be regarded as manifolds endowed with a type of…
Lie groups and their actions are ubiquitous in the description of physical systems, and we explore implications in the setting of model order reduction (MOR). We present a novel framework of MOR via Lie groups, called MORLie, in which…
The Bayesian Learning Rule provides a framework for generic algorithm design but can be difficult to use for three reasons. First, it requires a specific parameterization of exponential family. Second, it uses gradients which can be…
This paper describes a formal theory of smooth vector fields, Lie groups and the Lie algebra of a Lie group in the theorem prover Isabelle. Lie groups are abstract structures that are composable, invertible and differentiable. They are…
In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the…
There are many Lie groups used in physics, including the Lorentz group of special relativity, the spin groups (relativistic and non-relativistic) and the gauge groups of quantum electrodynamics and the weak and strong nuclear forces.…
Quantum theory can be formulated as a theory of operations, more specific, of complex represented operations from real Lie groups. Hilbert space eigenvectors of acting Lie operations are used as states or particles. The simplest simple Lie…
In this survey, we report on the state of the art of some of the fundamental problems in the Lie theory of Lie groups modeled on locally convex spaces, such as integrability of Lie algebras, integrability of Lie subalgebras to Lie…
This paper introduces Lie groups in degenerate geometric (Clifford) algebras that preserve four fundamental subspaces determined by the grade involution and reversion under the adjoint and twisted adjoint representations. We prove that…
The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that…