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The paper presents a new method of geometric solution of a Schrodinger equation by a construction of an equivalent first-order partial differential equation with a bigger number of variables. The equivalent equation shall be restricted to a…
One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and…
In infinite-dimensional Lie theory, the affine Kac-Moody Lie algebras and groups play a distinguished role due to their many applications to various areas of mathematics and physics. Underlying these infinite-dimensional objects there are…
The design and implementation of large sets of spatially-extended, gauge-invariant operators for use in determining the spectrum of baryons in lattice QCD computations are described. Group-theoretical projections onto the irreducible…
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory…
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However,…
Using the basic Lie symmetry method, we find the most general Lie point symmetries group of the $\nabla u=f(u)$ Poisson's equation, which has a subalgebra isomorphic to the $3-$dimensional special Euclidean group ${\rm SE}(3)$ or group of…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
The ``$D$'' matrices for all states of the two fundamental representations and octet are shown in the generalized Euler angle parameterization. The raising and lowering operators are given in terms of linear combinations of the left…
States of a quantum mechanical system are represented by rays in a complex Hilbert space. The space of rays has, naturally, the structure of a K\"ahler manifold. This leads to a geometrical formulation of the postulates of quantum mechanics…
In 1968, Dashen and Sharp obtained a certain singular Lie algebra of local densities and currents from canonical commutation relations in nonrelativistic quantum field theory. The corresponding Lie group is infinite dimensional: the natural…
New results from the new variables/loop representation program of nonperturbative quantum gravity are presented, with a focus on results of Ashtekar, Rovelli and the author which greatly clarify the physical interpretation of the quantum…
Let G be a Lie group, $g = Lie(G)$ - its Lie algebra, $g*$ - the dual vector space and $\widehat G$ - the set of equivalence classes of unitary irreducible representations of $G$. The orbit method [1] establishes a correspondence between…
This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion in the case of Lie groups endowed with a left-invariant metric, and on Lie…
The Sparse Grids Matlab Kit provides a Matlab implementation of sparse grids, and can be used for approximating high-dimensional functions and, in particular, for surrogate-model-based uncertainty quantification. It is lightweight,…
Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS) while at the same they give rise to computationally efficient recursive algorithms. The inherent frame invariance of such formulations allows for use of…
We construct a bicovariant differential calculus on the quantum group $GL_q(3)$, and discuss its restriction to $[SU(3) \otimes U(1)]_q$. The $q$-algebra of Lie derivatives is found, as well as the Cartan-Maurer equations. All the…
The problem of filtering - propagation of states through stochastic differential equations (SDEs) and association of measurement data using Bayesian inference - in a state space which forms a Lie group is considered. Particular emphasis is…
Robotics and computer vision problems commonly require handling rigid-body motions comprising translation and rotation - together referred to as pose. In some situations, a vectorial parameterization of pose can be useful, where elements of…
Pose estimation, i.e. predicting a 3D rigid transformation with respect to a fixed co-ordinate frame in, SE(3), is an omnipresent problem in medical image analysis with applications such as: image rigid registration, anatomical standard…