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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…
A classical result by K.B. Lee states that every group morphism between almost crystallographic groups is induced by an affine map on the nilpotent Lie group whereon these groups by definition act. It is the main technique for studying…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
Let $\L_m$ be the scheme of the laws defined by the identities of Jacobi on $\K^m$. The local studies of an algebraic Lie algebra $\g=\mathrm{R}\ltimes\n$ in $\L_m$ and its nilpotent part $\n$ in the scheme $\L_n^{\mathrm{R}}$ of…
Singular theories, characterised by the presence of degeneracies in their Lagrangian or Hamiltonian descriptions, require the systematic implementation of constraints in order to obtain well-defined dynamics. While the symplectic framework…
We define basic notions in the category of conic representations of a topological group and prove elementary facts about them. We show that a conic representation determines an ordinary dynamical system of the group together with a…
We generalize the classical construction principles of infinite-dimensional real (and complex) Lie groups to the case of Lie groups over non-discrete topological fields. In particular, we discuss linear Lie groups, mapping groups, test…
We extend the methods of geometric invariant theory to actions of non--reductive groups in the case of homomorphisms between decomposable sheaves whose automorphism groups are non--reductive. Given a linearization of the natural action of…
This thesis is devoted to algorithmic aspects of the implementation of Cartan's moving frame method to the problem of the equivalence of submanifolds under a Lie group action. We adopt a general definition of a moving frame as an…
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to…
We study the topology of orbits of dynamical systems defined by finite-dimensional representations of nilpotent Lie groups. Thus, the following dichotomy is established: either the interior of the set of regular points is dense in the…
This thesis is devoted to the study of Lie bialgebra and Hopf algebra structures related to certain versions of non-commutative geometry constructed on infinite-dimensional Lie algebras that arise in the context of asymptotic symmetries of…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
In this thesis Chern-Simons theories based on Lie algebras with invariant metric are constructed. It is discussed how contractions lead systematically to (higher spin) kinematical algebras of, e.g., Poincar\'e, Galilei and Carroll type and…
In this paper, we consider a smooth connected finite-dimensional manifold $M$, an affine connection $\nabla$ with holonomy group $H^{\nabla}$ and $\Delta$ a smooth completely non integrable distribution. We define the $\Delta$-horizontal…
This paper aims at reviewing nonlinear methods for model order reduction of structures with geometric nonlinearity, with a special emphasis on the techniques based on invariant manifold theory. Nonlinear methods differ from linear based…
We consider invariant covariant derivatives on reductive homogeneous spaces corresponding to the well-known invariant affine connections. These invariant covariant derivatives are expressed in terms of horizontally lifted vector fields on…
Variational autoencoders (VAEs) often struggle to represent non-commutative structure in learned latent spaces. Symmetry-aware VAEs commonly address this issue by enforcing commutativity through algebraic regularization, which is…
We introduce new topological quantum invariants of compact oriented 3-manifolds with boundary where the boundary is a disjoint union of two identical surfaces. The invariants are constructed via surgery on manifolds of the form $F \times I$…
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each link is carried through the entire control design without…