Related papers: Left-invariant optimal control problems on Lie gro…
This paper studies (single-time and multitime) optimal control problems on a nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or by the span of appropriate vector fields). For both descriptions we analyse:…
We present a geometric neural network-based tracking controller for systems evolving on matrix Lie groups under unknown dynamics, actuator faults, and bounded disturbances. Leveraging the left-invariance of the tangent bundle of matrix Lie…
In this survey, we report on the state of the art of some of the fundamental problems in the Lie theory of Lie groups modeled on locally convex spaces, such as integrability of Lie algebras, integrability of Lie subalgebras to Lie…
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…
The paper presents the complete classification of Automorphic Lie Algebras based on $\mathfrak{sl}_n (\mathbb{C})$, where the symmetry group $G$ is finite and the orbit is any of the exceptional $G$-orbits in $\overline{\mathbb{C}}$. A key…
In the context of optimal control, we consider the inverse problem of Lagrangian identification given system dynamics and optimal trajectories. Many of its theoretical and practical aspects are still open. Potential applications are very…
Invariance and equivariance to geometrical transformations have proven to be very useful inductive biases when training (convolutional) neural network models, especially in the low-data regime. Much work has focused on the case where the…
We prove for the first time that, if a linear inverse problem exhibits a group symmetry structure, gradient-based optimizers can be designed to exploit this structure for faster convergence rates. This theoretical finding demonstrates the…
We compute the full isometry group of any left invariant metric on a simply connected, non-unimodular Lie group of dimension three. As an application, we determine the index of symmetry of such metrics and prove that the singularities of…
We study the problem of motion feasibility for multiagent control systems on Lie groups with collision avoidance constraints. We first consider the problem for kinematic left invariant control systems and next, for dynamical control systems…
The goal of this paper is to provide a method, based on the theory of extensions of left-symmetric algebras, for classifying left-invariant affine structures on a given solvable Lie group of low dimension. To better illustrate our method,…
We discuss negatively curved homogeneous spaces admitting a simply transitive group of isometries, or equivalently, negatively curved left-invariant metrics on Lie groups. Negatively curved spaces have a remarkably rich and diverse…
Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, finding valid control invariant sets of dynamical systems under…
This paper presents a derivation of the parallel transport equation expressed in the Lie algebra of a Lie group endowed with a left-invariant metric.The use of this equation is exemplified on the group of rigid body motions SE(3), using…
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic…
Infinite-dimensional linear conic formulations are described for nonlinear optimal control problems. The primal linear problem consists of finding occupation measures supported on optimal relaxed controlled trajectories, whereas the dual…
We consider a series of optimal control problems with 2-dimensional control lying in an arbitrary convex compact set $\Omega$. The considered problems are well studied for the case when $\Omega$ is a unit disc, but barely studied for…
Optimal control is ubiquitous in many fields of engineering. A common technique to find candidate solutions is via Pontryagin's maximum principle. An unfortunate aspect of this method is that the dimension of system doubles. When the system…
Optimization problems over compact Lie groups have been extensively studied due to their broad applications in linear programming and optimal control. This paper analyzes least square problems over a noncompact Lie group, the symplectic…
Methods for the design of physical parameterization schemes that possess certain invariance properties are discussed. These methods are based on different techniques of group classification and provide means to determine expressions for…