Related papers: A Comparison Between Lie Group- and Lie Algebra- B…
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie…
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…
Currently state estimation is very important for the robotics, and the uncertainty representation based Lie group is natural for the state estimation problem. It is necessary to exploit the geometry and kinematic of matrix Lie group…
This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following aspects: generality of system dynamics, difficulty of…
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…
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…
Bilinear systems emerge in a wide variety of fields as natural models for dynamical systems ranging from robotics to quantum dots. Analyzing controllability of such systems is of fundamental and practical importance, for example, for the…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
The Special Euclidean group on the plane $SE(2)$ has the left-invariant sub-Riemannian structure. Every sub-Riemannian manifold possesses a Hamiltonian function governing the sub-Riemannian geodesic flow. Two natural questions are: What are…
Barrier functions are crucial for maintaining an intersection and inversion free simulation trajectory but existing methods which directly use distance can restrict implementation design and performance. We present an approach to rewriting…
This book explores geometries defined by left-invariant distance functions on Lie groups, with a particular focus on nilpotent groups and Carnot groups equipped with geodesic distances. Geodesic left-invariant metrics are either…
The concept of weak Lie motion (weak Lie symmetry) is introduced through ${\cal{L}}_{\xi}{\cal{L}}_{\xi}g_{ab}=0,$ (${\cal{L}}_{\xi}{\cal{L}}_{\xi}f=0$). Applications are given which exhibit a reduction of the usual symmetry, e.g., in the…
We use the general setting for contrast (potential) functions in statistical and information geometry provided by Lie groupoids and Lie algebroids. The contrast functions are defined on Lie groupoids and give rise to two-forms and…
By combining the Self-Interaction Correction (SIC) with pseudopotential perturbation theory, the role of self-interaction errors inherent to the Local Density Approximation (LDA) to Density Functional Theory is estimated in the…
A three-dimensional (3D) integrated guidance and control (IGC) design approach is proposed by using small-gain theorem in this paper. The 3D IGC model is formulated by combining nonlinear pursuer dynamics with the nonlinear dynamics…
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…
Estimation of the conditional independence graph (CIG) of high-dimensional multivariate Gaussian time series from multi-attribute data is considered. Existing methods for graph estimation for such data are based on single-attribute models…
We discuss some basic properties of Lie group representations in rigged Hilbert spaces. In particular, we show that a differentiable representation in a rigged Hilbert space may be obtained as the projective limit of a family of continuous…
Robustness, domain adaptation, photometric/occlusion invariance, sensor drift, and alignment style are treated as separate literatures with separate method families. Under label-preserving deployment shift they share one geometric object:…
This paper is about the relation of the geometry of Lie groupoids over a fixed compact manifold and the geometry of their (infinite-dimensional) bisection Lie groups. In the first part of the paper we investigate the relation of the…