Related papers: Symmetry Preservation in Hamiltonian Systems: Simu…
Due to the emergence of symplectic geometry, the geometric treatment of mechanics underwent a great development during the last century. In this scenario the pressence of symmetries in Hamiltonian systems leads naturally to the existence of…
This paper concerns the development and application of the multisymplectic Lagrangian and Hamiltonian formalism for nonlinear partial differential equations. In this theory, solutions of a PDE are sections of a fiber bundle $Y$ over a base…
Symmetries and, in particular, Cartan (Noether) symmetries and conserved quantities (conservation laws) are studied for the multisymplectic formulation of first and second order Lagrangian classical field theories. Noether-type theorems are…
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. Variational integrators are an important class of geometric integrators. The general idea…
We consider the geometric numerical integration of Hamiltonian systems subject to both equality and "hard" inequality constraints. As in the standard geometric integration setting, we target long-term structure preservation. We…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
There exist instances of dynamical systems possessing symmetry transformations of which the conserved Noether charges generating these symmetries feature an explicit time dependence in their functional representation over phase space. The…
Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…
We develop a Poisson Hamiltonian formulation of Pontryagin dynamics for optimal control of mechanical systems on Lie groupoids. The reduced dynamics is formulated intrinsically on the dual Lie algebroid endowed with its canonical linear…
A description of Lagrangian and Hamiltonian formalisms naturally arisen from the invariance structure of given nonlinear dynamical systems on the infinite--dimensional functional manifold is presented. The basic ideas used to formulate the…
Many applications, such as optimization, uncertainty quantification and inverse problems, require repeatedly performing simulations of large-dimensional physical systems for different choices of parameters. This can be prohibitively…
Extraction of structure, in particular of group symmetries, is increasingly crucial to understanding and building intelligent models. In particular, some information-theoretic models of parsimonious learning have been argued to induce…
We consider Lagrangians in Hamilton's principle defined on the tangent space $TG$ of a Lie group $G$. Invariance of such a Lagrangian under the action of $G$ leads to the symmetry-reduced Euler-Lagrange equations called the Euler-Poincar\'e…
In this paper we show how the well-know local symmetries of Lagrangeans systems, and in particular the diffeomorphism invariance, emerge in the Hamiltonian formulation. We show that only the constraints which are linear in the momenta…
Some positive answers to the problem of endowing a dynamical system with a Hamiltonian formulation are presented within the class of Poisson structures in a geometric framework. We address this problem on orientable manifolds and by using…
We briefly introduce the conception on Euler-Lagrange cohomology groups on a symplectic manifold $(\mathcal{M}^{2n}, \omega)$ and systematically present the general form of volume-preserving equations on the manifold from the cohomological…
We propose a geometrical approach to the investigation of Hamiltonian systems on (Pseudo) Riemannian manifolds. A new geometrical criterion of instability and chaos is proposed. This approach is more generic than well known reduction to the…
Symmetry is fundamental to understanding physical systems and can improve performance and sample efficiency in machine learning. Both pursuits require knowledge of the underlying symmetries in data, yet discovering these symmetries…
This paper develops new aspects of the interplay between shifted symplectic geometry and classical Poisson geometry, focusing on lagrangian morphisms into 2-shifted symplectic groups. We establish a Lie-type correspondence between such…
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. In this paper we present a method to construct symplectic-momentum integrators for…