Related papers: The Geometry and Kinematics of the Matrix Lie Grou…
This is intended as a self-contained introduction to the representation theory developed in order to create a Poincare 2-category state sum model for Quantum Gravity in 4 dimensions. We review the structure of a new representation…
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a continuous-time equivariant observer design problem on the…
Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…
This note summarizes the talk by the author at the workshop "Geometry and Computer Science" held in Pescara in February 2017. We present how SageMath can help in research in Complex and Differential Geometry, with two simple applications,…
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position…
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…
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…
We introduce the concept of an imprecise Markov semigroup \(\mathbf Q\). It is a tool that allows us to represent ambiguity around both the transition probabilities and the invariant measure of a continuous-time Markov process via a…
Poisson brackets provide the mathematical structure required to identify the reversible contribution to dynamic phenomena in nonequilibrium thermodynamics. This mathematical structure is deeply linked to Lie groups and their Lie algebras.…
Single image pose estimation is a fundamental problem in many vision and robotics tasks, and existing deep learning approaches suffer by not completely modeling and handling: i) uncertainty about the predictions, and ii) symmetric objects…
A coarse graining operation of spatially homogeneous quantum states based on an SU(1,1) Lie group structure has recently been proposed in [1] and used in [2] to compute an explicit renormalisation group flow in the context of loop quantum…
The object of investigations are almost contact B-metric structures on 3-dimensional Lie groups considered as smooth manifolds. There are established the existence and some geometric characteristics of these manifolds in all basic classes.…
Pose estimation, tracking, and action recognition of articulated objects from depth images are important and challenging problems, which are normally considered separately. In this paper, a unified paradigm based on Lie group theory is…
This is a concise introduction to the theory of Lie groupoids, with emphasis in their role as models for stacks. After some preliminaries, we review the foundations on Lie groupoids, and we carefully study equivalences and proper groupoids.…
This paper deals with the problem of output regulation for systems defined on matrix Lie-Groups. Reference trajectories to be tracked are supposed to be generated by an exosystem, defined on the same Lie-Group of the controlled system, and…
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…
We introduce and obtain multimode paraboson coherent states. In appropriate subspaces these coherent states provide a decomposition of unity where the measure, when expressed using the cat-type states, is positive definite. Bicoherent…
Orbits of coadjoint representations of classical compact Lie groups have a lot of applications. They appear in representation theory, geometrical quantization, theory of magnetism, quantum optics etc. As geometric objects the orbits were…
We study Lie group structures on groups of the form C^\infty(M,K)}, where M is a non-compact smooth manifold and K is a, possibly infinite-dimensional, Lie group. First we prove that there is at most one Lie group structure with Lie algebra…
We present a new class of stochastic, geometrically-driven optimization algorithms on the orthogonal group $O(d)$ and naturally reductive homogeneous manifolds obtained from the action of the rotation group $SO(d)$. We theoretically and…