Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
The paper is based on relations between a ternary symmetric form defining the SO(3) geometry in dimension five and Cartan's works on isoparametric hypersurfaces in spheres. As observed by Bryant such a ternary form exists only in dimensions…
A gauge theory of gravity is defined in 6 dimensional non-commutative space-time. The gauge group is the unitary group U(2,2), which contains the homogeneous Lorentz group, SO(4,2), in 6 dimensions as a subgroup. It is shown that, after the…
Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…
We initiate the study of deformations of groups in three-dimensional complex hyperbolic geometry. Let $$G=\left\langle \iota_1, \iota_2, \iota_3, \iota_4 \Bigg| \begin{array}{c} \iota_1^2= \iota_2^2 = \iota_3^2=\iota_4^2=id,\\ (\iota_1…
We develop a geometric atlas of dynamical regimes on the rotation group SU(2), combining geodesic flows, heavy rigid body dynamics, and a curvature-based decomposition of the Euler-Poisson equations. We represent the equations of motion in…
Starting from the following multidimensional integrable generalizations of the heavy rigid body systems: the Euler top, the Lagrange top, the Lagrange bitop, and the totally symmetric case, we add to each of them a gyroscope. For each of…
Attitude control systems naturally evolve on nonlinear configuration spaces, such as S^2 and SO(3). The nontrivial topological properties of these configuration spaces result in interesting and complicated nonlinear dynamics when studying…
We give explicit computations of the $\Gamma$-Euler characteristic of several families of orbit space definable translation groupoids. These include the translation groupoids associated to finite-dimensional linear representations of the…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
This paper studies hidden convexity properties associated with constrained optimization problems over the set of rotation matrices $\text{SO}(n)$. Such problems are nonconvex due to the constraint $X \in \text{SO}(n)$. Nonetheless, we show…
It is shown that general dilepton angular distribution (with parity violating terms taking into account) in vector particle decays can be described through a set of five SO(3) rotational-invariant observables. These observables are derived…
We consider curvature depending variational models for image regularization, such as Euler's elastica. These models are known to provide strong priors for the continuity of edges and hence have important applications in shape-and image…
All possible permutations in the discrete $S_4$ group are classified by three rotation angles associated with the orthogonal group $O(3)$. We construct a spinor representation ${\bf 2}_D$ of $O(3)$, which is transformed by three 4$\times$4…
This article introduces yet another representation of rotations in 3-space. The rotations form a 3-dimensional projective space, which fact has not been exploited in Computer Science. We use the four affine patches of this projective space…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
Let M be an oriented three-dimensional Riemannian manifold. We define a notion of vorticity of local sections of the bundle SO(M) --> M of all its positively oriented orthonormal tangent frames. When M is a space form, we relate the concept…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…