Related papers: Left-Invariant Riemannian Distances on Higher-Rank…

We show that the Euclidean distance degree of a real orthogonally invariant matrix variety equals the Euclidean distance degree of its restriction to diagonal matrices. We illustrate how this result can greatly simplify calculations in…

The square of a skew-symmetric matrix is a symmetric matrix whose eigenvalues have even multiplicities. When the matrices have rank two, they represent the Grassmannian of lines, and the squaring operation takes Pl\"ucker coordinates to…

Given a smooth free action of a compact connected Lie group $G$ on a smooth compact manifold $M$, we show that the space of $G$-invariant Riemannian metrics on $M$ whose automorphism group is precisely $G$ is open dense in the space of all…

Over the past few years, symmetric positive definite (SPD) matrices have been receiving considerable attention from computer vision community. Though various distance measures have been proposed in the past for comparing SPD matrices, the…

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…

Let $G$ be a connected, simply connected three-dimensional Lie group (unimodular or non-unimodular) equipped with a left-invariant (Riemannian or Lorentzian) metric $g$. By definition, the isometry group $\mathrm{Isom}(G, g)$ contains $G$…

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…

In this paper we generalize a result in [1], showing that an arbitrary Riemannian symmetric space can be realized as a closed submanifold of a covering group of the Lie group defining the symmetric space. Some properties of the subgroups of…

We analyse the geometry of the rubber-rolling distribution on the special orthogonal group and show that almost all the normal geodesics of any right-invariant sub-Riemannian metric defined on this distribution are completely integrable.…

This paper uncovers a large class of left-invariant sub-Rie\-mannian systems on Lie groups that admit explicit solutions with certain properties, and provides geometric origins for a class of important curves on Stiefel manifolds, called…

We consider homogeneous spaces of Lie groups with compact stabilizer subgroups of two types: those with integrable invariant distributions and those with geodesic orbit invariant Riemannian metrics. The latter means that for an arbitrary…

Motivated by various results on homogeneous geodesics of Riemannian spaces, we study homogeneous trajectories, i.e. trajectories which are orbits of a one-parameter symmetry group, of Lagrangian and Hamiltonian systems. We present criteria…

In this paper, left-invariant almost contact metric structures on three-dimensional non-unimodular Lie groups are investigated. It is proved that for every Riemannian Lie group, there is one of these structures. In addition, left-invariant…

The authors found geodesics, shortest arcs, cut loci, and conjugate sets for left-invariant sub-Riemannian matric on the Lie group $SL(2)$, which is right-invariant relative to the Lie subgroup $SO(2)\subset SL(2)$ (in other words, for…

We introduce an asymmetric distance function, which we call the `left Hausdorff distance function', on the space of geodesic laminations on a closed hyperbolic surface of genus at least 2. This distance is an asymmetric version of the…

In the presented paper left-invariant pseudo-Riemannian metrics on four-dimensional Lie groups with zero Schouten-Weyl tensor are investigated. The complete classification of these metric Lie groups is obtained in terms of the structure…

In this survey, symmetry provides a framework for classification of manifolds with differential-geometric structures. We highlight pseudo-Riemannian metrics, conformal structures, and projective structures. A range of techniques have been…

We explicitly describe the length minimizing geodesics for a sub-Riemannian structure of the elliptic type defined on $SL(2, \mathbb{R})$. Our method uses a symmetry reduction which translates the problem into a Riemannian problem on a two…

We investigate the SL(2,R) invariant geodesic curves with the as- sociated invariant distance function in parabolic geometry. Parabolic geom- etry naturally occurs in the study of SL(2,R) and is placed in between the elliptic and the…

Many geometric machine learning and image analysis applications, require a left-invariant metric on the 5D homogeneous space of 3D positions and orientations SE(3)/SO(2). This is done in Equivariant Neural Networks (G-CNNs), or in PDE-Based…