Related papers: The Geometry and Kinematics of the Matrix Lie Grou…
This paper presents a geometrically explicit formulation for Cosserat rods that unifies configuration-space and strain-based representations within a single modeling framework. The proposed method uses nodal configurations on the Lie group…
We develop a semigroup approach to representation theory for pro-Lie groups satisfying suitable amenability conditions. As an application of our approach, we establish a one-to-one correspondence between equivalence classes of unitary…
Representations of coherent state Lie algebras on coherent state manifolds as first order differential operators are presented. The explicit expressions of the differential action of the generators of semisimple Lie groups determine for…
In this survey, we study representations of finitely generated groups into Lie groups, focusing on the deformation spaces of convex real projective structures on closed manifolds and orbifolds, with an excursion on projective structures on…
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and…
Estimates for matrix coefficients of unitary representations of semisimple Lie groups have been studied for a long time, starting with the seminal work by Bargmann, by Ehrenpreis and Mautner, and by Kunze and Stein. Two types of estimates…
Coherent states on the quantum group $SU_q(2)$ are defined by using harmonic analysis and representation theory of the algebra of functions on the quantum group. Semiclassical limit $q\rightarrow 1$ is discussed and the crucial role of…
We discuss some basic properties of Lie group representations in rigged Hilbert spaces. In particular, we show that a differentiable representation in a rigged Hilbert space may be obtained as the projective limit of a family of continuous…
Motivated by the problem of formation control for vehicles moving at unit speed in three-dimensional space, we are led to models of gyroscopically interacting particles, which require the machinery of curves and frames to describe and…
We study the existence of cocompact lattices in Lie groups with bi-invariant metric of signature $(2,n-2)$. We assume in addition that the Lie groups under consideration are simply-connected, indecomposable and solvable. Then their centre…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…
In this survey, we discuss a series of linearization problems--for Poisson structures, Lie algebroids, and Lie groupoids. The last problem involves a conjecture on the structure of proper groupoids. Attempting to prove this by the method of…
A quantum group analysis is applied to the Sine-Gordon model (or may be its version) in a strong-coupling regime. Infinitely many bound states are found together with the corresponding S-matrices. These new solutions of the Yang-Baxter…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…
The article is devoted to the question whether the orbit space of a compact linear group is a topological manifold and a homological manifold. In the paper, the case of a simple three-dimensional group is considered. An upper bound is…
Space-times admitting a 3-dimensional Lie group of conformal motions $C_3$ acting on null orbits are studied. Coordinate expressions for the metric and the conformal Killing vectors (CKV) are provided (irrespectively of the matter content)…
This book explores geometries defined by left-invariant distance functions on Lie groups, with a particular focus on nilpotent groups and Carnot groups equipped with geodesic distances. Geodesic left-invariant metrics are either…
Shape analysis methods have in the past few years become very popular, both for theoretical exploration as well as from an application point of view. Originally developed for planar curves, these methods have been expanded to higher…
Can a robot manipulate intra-category unseen objects in arbitrary poses with the help of a mere demonstration of grasping pose on a single object instance? In this paper, we try to address this intriguing challenge by using USEEK, an…
In Part I of this series we presented the general ideas of applying group-algebraic methods for describing quantum systems. The treatment was there very "ascetic" in that only the structure of a locally compact topological group was used.…