Related papers: Note on geometric algebras and control problems wi…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
The goal of this paper is to describe a method to solve a class of time optimal control problems which are equivalent to finding the sub-Riemannian minimizing geodesics on a manifold M. In particular, we assume that the manifold M is acted…
We discuss some challenging open problems in the geometric control theory and sub-Riemannian geometry.
This paper shows how left and right actions of Lie groups on a manifold may be used to complement one another in a variational reformulation of optimal control problems equivalently as geodesic boundary value problems with symmetry. We…
In many problems in optimal control, one seeks to minimise an objective function subject to constraints on the velocity of the system. Imposing these constraints directly -- the ``hard-constrained'' approach -- is often analytically and…
We start by introducing the basics of configurations of points and lines, and then move into discussing symmetry groups of these configurations. Specifically, we explore how we might classify the symmetries of $(9_3)$ and $(10_3)$ geometric…
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…
We develop aspects of geometric control theory on Lie groups G which may be infinite dimensional, and on smooth G-manifolds M modelled on locally convex spaces. As a tool, we discuss existence and uniqueness questions for differential…
In this work, we utilize infinitesimal symmetries to compute Maxwell points which play a crucial role in studying sub-Riemannian control problems. By examining the infinitesimal symmetries of the geometric control problem on the SH(2)…
In a recent paper [Phys. Rev. E 57, p. 1550 (1998)] we demonstrated that the symmetries of the evolution equation and the target state have a profound effect on the selection of the admissible control parameters. In the present paper we…
We introduce and discuss (local) symmetries of geometric structures. These symmetries generalize the classical (locally) symmetric spaces to various other geometries. Our main tools are homogeneous Cartan geometries and their explicit…
We consider left-invariant optimal control problems on connected Lie groups such that generic stabilizer of the coadjoint action is connected and has dimension not more than 1. We introduce a construction for symmetries of the exponential…
We describe the quaternionic Heisenberg group in the dimension $7$ as a matrix group. We study the local control of a compatible left-invariant control system. We describe the impact of symmetries of the corresponding sub-Riemannian…
For a geometrically finite group Gamma of G=SO(n,1), we survey recent developments on counting and equidistribution problems for orbits of Gamma in a homogeneous space H\G where H is trivial, symmetric or horospherical. Main applications…
Statistical models that possess symmetry arise in diverse settings such as random fields associated to geophysical phenomena, exchangeable processes in Bayesian statistics, and cyclostationary processes in engineering. We formalize the…
This is a survey article, from the viewpoint of the completeness of the Marsden- Weinstein reduction, to introduce briefly some recent developments of the symmetric reductions and Hamilton-Jacobi theory of the regular controlled Hamiltonian…
The aim of this paper is to clear up the problem of the connection between the 3D geometric moments invariants and the invariant theory, considering a problem of describing of the 3D geometric moments invariants as a problem of the…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…