Related papers: Nonholonomic momentum map reduction and a Chaplygi…

This paper presents a reduction procedure for nonholonomic systems admitting suitable types of symmetries and conserved quantities. The full procedure contains two steps. The first (simple) step results in a Chaplygin system, described by…

In this paper we study the reduction of a nonholonomic system by a group of symmetries in two steps. Using the so-called 'vertical-symmetry' condition, we first perform a 'compression' of the nonholonomic system leading to an almost…

We describe a reduction process for symplectic principal $\mathbb{R}$-bundles in the presence of a momentum map. This type of structures plays an important role in the geometric formulation of non-autonomous Hamiltonian systems. We apply…

In this note, we introduce a suitable generalization of the momentum map for nonholonomic field theories and prove a covariant form of the nonholonomic momentum equation. We show that these covariant objects coincide with their counterparts…

A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…

We introduce the notion of a weak (homotopy) moment map associated to a Lie group action on a multisymplectic manifold. We show that the existence/uniqueness theory governing these maps is a direct generalization from symplectic geometry.…

Let $(M,\omega)$ be a symplectic manifold, $N\subseteq M$ a coisotropic submanifold, and $\Sigma$ a compact oriented (real) surface. I define a natural Maslov index for each continuous map $u:\Sigma\to M$ that sends every connected…

Presymplectic and Poisson reduction of cluster maps are described in terms of the "canonical" foliations of presymplectic and Poisson manifolds. This approach to reduction leads to a geometric description, in terms of foliations, of the…

Non-holonomic mechanical systems can be described by a degenerate almost-Poisson structure (dropping the Jacobi identity) in the constrained space. If enough symmetries transversal to the constraints are present, the system reduces to a…

We consider nonholonomic Chaplygin systems and associate to them a $(1,2)$ tensor field on the shape space, that we term the gyroscopic tensor, and that measures the interplay between the non-integrability of the constraint distribution and…

We show that the Suslov nonholonomic rigid body problem can be regarded almost everywhere as a generalized Chaplygin system. Furthermore, this provides a new example of a multidimensional nonholonomic system which can be reduced to a…

Every action on a Poisson manifold by Poisson diffeomorphisms lifts to a Hamiltonian action on its symplectic groupoid which has a canonically defined momentum map. We study various properties of this momentum map as well as its use in…

The presence of symmetries in a Hamiltonian system usually implies the existence of conservation laws that are represented mathematically in terms of the dynamical preservation of the level sets of a momentum mapping. The symplectic or…

This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…

In a previous article, we introduced a reduction procedure for locally conformally symplectic manifolds at any regular value of the momentum mapping. We use this construction to prove an analogue of a well-known theorem in the symplectic…

In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of Severa and Weinstein [29]) to construct different almost Poisson…

Reduction is a process that uses symmetry to lower the order of a Hamiltonian system. The new variables in the reduced picture are often not canonical: there are no clear variables representing positions and momenta, and the Poisson bracket…

There exist three main approaches to reduction associated to canonical Lie group actions on a symplectic manifold, namely, foliation reduction, introduced by Cartan, Marsden-Weinstein reduction, and optimal reduction, introduced by the…

This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…

We construct different almost Poisson brackets for nonholonomic systems than those existing in the literature and study their reduction. Such brackets are built by considering non-canonical two-forms on the cotangent bundle of configuration…