Related papers: A micro Lie theory for state estimation in robotic…
We explain that general differential calculus and Lie theory have a common foundation: Lie Calculus is differential calculus, seen from the point of view of Lie theory, by making use of the groupoid concept as link between them. Higher…
Matrix Lie groups provide a language for describing motion in such fields as robotics, computer vision, and graphics. When using these tools, we are often faced with turning infinite-series expressions into more compact finite series (e.g.,…
In recent years, skeleton-based action recognition has become a popular 3D classification problem. State-of-the-art methods typically first represent each motion sequence as a high-dimensional trajectory on a Lie group with an additional…
The goal of this modern presentation, followed by an English translation from the German, is to make available some parts of Lie's very systematic mathematical thought which deserve to join the contemporary literature, and above all also,…
Automorphic Lie Algebras arise in the context of reduction groups introduced in the late 1970s in the field of integrable systems. They are subalgebras of Lie algebras over a ring of rational functions, defined by invariance under the…
This book provides a gentle introduction to the study of arithmetic subgroups of semisimple Lie groups. This means that the goal is to understand the group SL(n,Z) and certain of its subgroups. Among the major results discussed in the later…
The concept of weak Lie motion (weak Lie symmetry) is introduced through ${\cal{L}}_{\xi}{\cal{L}}_{\xi}g_{ab}=0,$ (${\cal{L}}_{\xi}{\cal{L}}_{\xi}f=0$). Applications are given which exhibit a reduction of the usual symmetry, e.g., in the…
We formulate and prove a twofold generalisation of Lie's second theorem that integrates homomorphisms between formal group laws to homomorphisms between Lie groups. Firstly we generalise classical Lie theory by replacing groups with…
The concept of Automorphic Lie Algebras arises in the context of reduction groups introduced in the early 1980s in the field of integrable systems. Automorphic Lie Algebras are obtained by imposing a discrete group symmetry on a current…
Symmetry lies at the heart of todays theoretical study of particle physics. Our manuscript is a tutorial introducing foundational mathematics for understanding physical symmetries. We start from basic group theory and representation theory.…
We give a short and elementary introduction to Lie group methods. A selection of applications of Lie group integrators are discussed. Finally, a family of symplectic integrators on cotangent bundles of Lie groups is presented and the notion…
We suggest a new algorithm to estimate representations of compact Lie groups from finite samples of their orbits. Different from other reported techniques, our method allows the retrieval of the precise representation type as a direct sum…
Lie algebras are an important class of algebras which arise throughout mathematics and physics. We report on the formalisation of Lie algebras in Lean's Mathlib library. Although basic knowledge of Lie theory will benefit the reader, none…
Since they were introduced in the 1990s, Lie group integrators have become a method of choice in many application areas. These include multibody dynamics, shape analysis, data science, image registration and biophysical simulations. Two…
Classical inequalities used in information theory such as those of de Bruijn, Fisher, and Kullback carry over from the setting of probability theory on Euclidean space to that of unimodular Lie groups. These are groups that posses…
In recent decades, we have known some interesting applications of Lie theory in the theory of technological progress. Firstly, we will discuss some results of R. Saito in \cite{rS1980} and \cite{rS1981} about the application modeling of Lie…
This overview paper is intended as a quick introduction to Lie algebras of vector fields. Originally introduced in the late 19th century by Sophus Lie to capture symmetries of ordinary differential equations, these algebras, or…
We generalize the classical construction principles of infinite-dimensional real (and complex) Lie groups to the case of Lie groups over non-discrete topological fields. In particular, we discuss linear Lie groups, mapping groups, test…
The concepts of mean (i.e., average) and covariance of a random variable are fundamental in statistics, and are used to solve real-world problems such as those that arise in robotics, computer vision, and medical imaging. On matrix Lie…
We give a complete classification of the class of Lie algebras of simply connected real Lie groups whose nontrivial coadjoint orbits are of codimension 1. Such a Lie group belongs to a well-known class, called the class of MD-groups. The…