Related papers: Nonholonomic momentum map reduction and a Chaplygi…
In this paper, we consider the hamiltonian formulation of nonholonomic systems with symmetries and study several aspects of the geometry of their reduced almost Poisson brackets, including the integrability of their characteristic…
We consider nonholonomic systems which symmetry groups consist of two subgroups one of which represents rotations about the axis of symmetry. After nonholonomic reduction by another subgroup the corresponding vector fields on partially…
Momentum map is a reduction procedure that reduces the dimension of a Hamiltonian system to the lower ones. It is shown that behavior of the action-angle variables under the momentum map generates the new action-angle variables for the…
We study gauge theories on spacetime manifolds with a codimension-$1$ submanifold with boundary. We characterise the reduced phase space of the theory whenever it is described by a local momentum map for the action of the gauge group…
We study invariant manifolds of conformal symplectic dynamical systems on a symplectic manifold (M, $\omega$) of dimension $\ge$4. This class of systems is the 1-dimensional extension of symplectic dynamical systems for which the symplectic…
Actions of Lie groups on presymplectic manifolds are analyzed, introducing the suitable comomentum and momentum maps. The subsequent theory of reduction of presymplectic dynamical systems with symmetry is studied. In this way, we give a…
We consider a class of dynamical systems on a Lie group $G$ with a left-invariant metric and right-invariant nonholonomic constraints (so called LR systems) and show that, under a generic condition on the constraints, such systems can be…
We show that the symplectic contraction map of Hilgert-Manon-Martens -- a symplectic version of Popov's horospherical contraction -- is simply the quotient of a Hamiltonian manifold $M$ by a "stratified null foliation" that is determined by…
During the last thirty years, symplectic or Marsden--Weinstein reduction has been a major tool in the construction of new symplectic manifolds and in the study of mechanical systems with symmetry. This procedure has been traditionally…
We introduce quasi-symplectic groupoids and explain their relation with momentum map theories. This approach enables us to unify into a single framework various momentum map theories, including the ordinary Hamiltonian $G$-spaces, Lu's…
We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…
The space of smooth sections of a symplectic fiber bundle carries a natural symplectic structure. We provide a general framework to determine the momentum map for the action of the group of bundle automorphism on this space. Since, in…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…
This article addresses the problem of developing an extension of the Marsden- Weinstein reduction process to symplectic Lie algebroids, and in particular to the case of the symplectic cover of a fiberwise linear Poisson structure, whose…
We analyze the inherent symmetries associated to the non-Abelian topological BF theory from the geometric and covariant perspectives of the Lagrangian and the multisymplectic formalisms. At the Lagrangian level, we classify the symmetries…
The purpose of this note is to define tri-moment maps for certain manifolds that carry closed non-degenerate 4-forms and an $Sp(1)^n$-action. Examples include quaternionic vector spaces and flag manifolds. We show how this map can be used…
In this paper we show that the transverse image of the momentum map of a Hamiltonian Lie group action admits a natural integral affine stratification with the property that over each stratum the momentum map is an equivariantly locally…
We develop the reducing multiplier theory for a special class of nonholonomic dynamical systems and show that the non-linear Poisson brackets naturally obtained in the framework of this approach are all isomorphic to the Lie-Poisson…
This text presents some basic notions in symplectic geometry, Poisson geometry, Hamiltonian systems, Lie algebras and Lie groups actions on symplectic or Poisson manifolds, momentum maps and their use for the reduction of Hamiltonian…
Via compression ([11, 7]) we write the $n$-dimensional Chaplygin sphere system as an almost Hamiltonian system on $T^*SO(n)$ with internal symmetry group $SO(n-1)$. We show how this symmetry group can be factored out, and pass to the fully…