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Pose graph optimization (PGO) is fundamental to robot perception and navigation systems, serving as the mathematical backbone for solving simultaneous localization and mapping (SLAM). Existing solvers suffer from polynomial growth in…
In this paper, we formulate a procedure to obtain a generalization of Milnor frames for left-invariant pseudo-Riemannian metrics on a given Lie group. This procedure is an analogue of the recent studies on left-invariant Riemannian metrics,…
A symplectic Lie group is a Lie group with a left-invariant symplectic form. Its Lie algebra structure is that of a quasi-Frobenius Lie algebra. In this note, we identify the groupoid analogue of a symplectic Lie group. We call the…
Several integration schemes exits to solve the equations of motion of the $N$-body problem. The Lie-integration method is based on the idea to solve ordinary differential equations with Lie-series. In the 1980s this method was applied for…
The anelastic and pseudo-incompressible equations are two well-known soundproof approximations of compressible flows useful for both theoretical and numerical analysis in meteorology, atmospheric science, and ocean studies. In this paper,…
Let G be a Lie group, $T^*G$ its cotangent bundle with its natural Lie group structure obtained by performing a left trivialization of T^*G and endowing the resulting trivial bundle with the semi-direct product, using the coadjoint action…
In this paper, we define the corresponding submanifolds to left-invariant Riemannian metrics on Lie groups, and study the following question: does a distinguished left-invariant Riemannian metric on a Lie group correspond to a distinguished…
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.…
The space $\mathcal{Z}$ of leftinvariant orthogonal almost complex structures, keeping the orientation, on 6-dimensional Lie groups is researched. To get explicit view of this space elements the isomorphism of $\mathcal{Z}$ and…
The Lie group of symmetry of the one-dimensional differential equation of electron magnetohydrodynamics with effect of electron inertia and finite conducting is found. It's indicated that this group is group of shift of independent…
We briefly review two different methods of applying Lie group theory in the numerical solution of ordinary differential equations. On specific examples we show how the symmetry preserving discretization provides difference schemes for which…
We present a new Partial Integral Equation (PIE) representation of Partial Differential Equations (PDEs) in which it is possible to use convex optimization to perform stability analysis with little or no conservatism. The first result gives…
The Lie algebra of the Poincar\'e-Maxwell group is derived in a manner that provides the interpretation of the equations of motion. It is clarified that the dynamics obtained from the orbit method is exactly equivalent to the classical…
The main object of study of this paper is the notion of a LieDer pair, i.e. a Lie algebra with a derivation. We introduce the concept of a representation of a LieDer pair and study the corresponding cohomologies. We show that a LieDer pair…
We study left-invariant symmetric Killing 2-tensors on 2-step nilpotent Lie groups endowed with a left-invariant Riemannian metric, and construct genuine examples, which are not linear combinations of parallel tensors and symmetric products…
On the level of Lie algebras, the contraction procedure is a method to create a new Lie algebra from a given Lie algebra by rescaling generators and letting the scaling parameter tend to zero. One of the most well-known examples is the…
We study infinite dimensional Lie algebras, whose infinite dimensional mutually commuting subalgebras correspond with the symmetry algebra of $2d$ integrable models. These Lie algebras are defined by the set of infinitesimal, nonlinear, and…
We continue to study left-invariant pseudo-Riemannian metrics on Lie groups being in the null cone of the $O(p,q)$-action using the moving bracket approach. In particular, the Lie algebra being in the null cone implies that the…
We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…
In this paper we classify in terms of Lie point symmetries the three-dimensional nonrelativistic motion of charged particles in arbitrary time-independent electromagnetic fields. The classification is made on the ground of equivalence…