Related papers: Note on geometric algebras and control problems wi…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
A geometric setup for control theory is presented. The argument is developed through the study of the extremals of action functionals defined on piecewise differentiable curves, in the presence of differentiable non-holonomic constraints.…
Much of the success of deep learning is drawn from building architectures that properly respect underlying symmetry and structure in the data on which they operate - a set of considerations that have been united under the banner of…
We give a survey of algorithms for computing topological invariants of semi-algebraic sets with special emphasis on the more recent developments in designing algorithms for computing the Betti numbers of semi-algebraic sets. Aside from…
{\em Riemannian cubics} are curves in a manifold $M$ that satisfy a variational condition appropriate for interpolation problems. When $M$ is the rotation group SO(3), Riemannian cubics are track-summands of {\em Riemannian cubic splines},…
We design a deep-learning algorithm for the discovery and identification of the continuous group of symmetries present in a labeled dataset. We use fully connected neural networks to model the symmetry transformations and the corresponding…
Computing geodesics for Riemannian manifolds is a difficult task that often relies on numerical approximations. However, these approximations tend to be either numerically unstable, have slow convergence, or scale poorly with manifold…
Symmetries and isomorphisms play similar conceptual roles when we consider how models represent physical situations, but they are formally distinct, as two models related by symmetries are not typically isomorphic. I offer a rigorous…
In this paper we study geodesics on adjoint orbits of $SL(n,\mathbb{R})$ equipped with $SO(n)$-invariant metrics (maximal compact subgroup). Our main technique is translate this problem into a geometric problem in the tangent bundle of…
This paper presents an overview of recent developments in the analysis of shapes such as curves and surfaces through Riemannian metrics. We show that several constructions of metrics on spaces of submanifolds can be unified through the…
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
Many problems of systems control theory boil down to solving polynomial equations, polynomial inequalities or polyomial differential equations. Recent advances in convex optimization and real algebraic geometry can be combined to generate…
An algebra is called skew-symmetric if its multiplication operation is a skew-symmetric bilinear application. We determine all these algebras in dimension $3$ over a field of characteristic different from $2$. As an application, we…
In this Master of Science Thesis I introduce geometric algebra both from the traditional geometric setting of vector spaces, and also from a more combinatorial view which simplifies common relations and operations. This view enables us to…
Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…
Quantum algebras are a mathematical tool which provides us with a class of symmetries wider than that of Lie algebras, which are contained in the former as a special case. After a self-contained introduction to the necessary mathematical…
A remarkable number of different numerical algorithms can be understood and analyzed using the concepts of symmetric spaces and Lie triple systems, which are well known in differential geometry from the study of spaces of constant curvature…
We study an important property of shape invariant supersymmetric quantum mechanical systems. Particularly, we demonstrate that each shape invariant supersymmetric system can constitute a $Z_3$-graded topological symmetric algebra. The…
We present a scheme of biquaternionic algebrodymamics based on a nonlinear generalization of the Cauchy-Riemann holomorphy conditions considered therein as fundamental field equations. The automorphism group SO(3,C) of the biquaternion…
This survey explores the geometric perspective on policy optimization within the realm of feedback control systems, emphasizing the intrinsic relationship between control design and optimization. By adopting a geometric viewpoint, we aim to…