Related papers: Left-invariant optimal control problems on Lie gro…
In the present paper, a class of partial differential equations related to various plate and rod problems is studied by Lie transformation group methods. A system of equations determining the generators of the admitted point Lie groups…
We consider the optimal control problem for null curves in de Sitter 3-space defined by a functional which is linear in the curvature of the trajectory. We show how techniques based on the method of moving frames and exterior differential…
A new method is described for solving optimal control problems using direct collocation at Legendre-Gauss-Lobatto points. The approach of this paper employs a polynomial approximation of the right-hand side vector field of the differential…
Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential equations (neural ODEs), and formulate the optimization…
A left invariant metric on a nilpotent Lie group is called minimal, if it minimizes the norm of the Ricci tensor among all left invariant metrics with the same scalar curvature. Such metrics are unique up to isometry and scaling and the…
In this work, we will investigate the question of optimal control for bilinear systems with constrained endpoint. The optimal control will be characterized through a set of unconstrained minimization problems that approximate the former.…
It is shown that the problem of reduction can be formulated in a uniform way using the theory of invariants. This provides a powerful tool of analysis and it opens the road to new applications of these algebras, beyond the context of…
We study the group properties and the similarity solutions for the constraint conditions of anti-self-dual null K\"{a}hler four-dimensional manifolds with at least a Killing symmetry vector. Specifically we apply the theory of Lie…
We study the Ricci tensor of left-invariant pseudoriemannian metrics on Lie groups. For an appropriate class of Lie groups that contains nilpotent Lie groups, we introduce a variety with a natural $\mathrm{GL}(n,\mathbb{R})$ action, whose…
We provide techniques for studying the nonnegatively curved left-invariant metrics on a compact Lie group. For "straight" paths of left-invariant metrics starting at bi-invariant metrics and ending at nonnegatively curved metrics, we deduce…
There are many Lie groups used in physics, including the Lorentz group of special relativity, the spin groups (relativistic and non-relativistic) and the gauge groups of quantum electrodynamics and the weak and strong nuclear forces.…
All known examples of homogeneous Einstein metrics of negative Ricci curvature can be realized as left-invariant Riemannian metrics on solvable Lie groups. After defining a notion of maximal symmetry among left-invariant Riemannian metrics…
We revisit the results on admissible transformations between normal linear systems of second-order ordinary differential equations with an arbitrary number of dependent variables under several appropriate gauges of the arbitrary elements…
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedback laws for systems with Lie symmetries, i.e. feedback laws…
A renormalization group method with the Lie symmetry is presented for the singular perturbation problems. Asymptotic solutions are obtained as group-invariant solutions under approximate Lie group admitted by perturbed differential…
We revisit the optimal control problem with maximum cost with the objective to provide different equivalent reformulations suitable to numerical methods. We propose two reformulations in terms of extended Mayer problems with constraint, and…
This paper considers the problem of controlled invariance of involutive regular distribution, both for smooth and real analytic cases. After a review of some existing work, a precise formulation of the problem of local and global controlled…
Let N be a nilpotent Lie group and let S be an invariant geometric structure on N (cf. symplectic, complex or hypercomplex). We define a left invariant Riemannian metric on N compatible with S to be "minimal", if it minimizes the norm of…
In this paper, we study a regularised relaxed optimal control problem and, in particular, we are concerned with the case where the control variable is of large dimension. We introduce a system of mean-field Langevin equations, the invariant…