Related papers: Euler Poincare Dynamics and Control on Lie Groupoi…
Invariance and equivariance to geometrical transformations have proven to be very useful inductive biases when training (convolutional) neural network models, especially in the low-data regime. Much work has focused on the case where the…
The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section,…
In previous papers we extended the Lorentz and Poincare groups to include a set of Dirac boosts that give a direct correspondence with a set of generators which for spin 1/2 systems are proportional to the Dirac matrices. The groups are…
The infinitesimal counterpart of a Lie groupoid is its Lie algebroid. As a vector bundle, it is given by the source vertical tangent bundle restricted to the identity bisection. Its sections can be identified with the invariant vector…
A generalized Euler parameterization of a compact Lie group is a way for parameterizing the group starting from a maximal Lie subgroup, which allows a simple characterization of the range of parameters. In the present paper we consider the…
In this note we construct an infinite-dimensional Lie group structure on the group of vertical bisections of a regular Lie groupoid. We then identify the Lie algebra of this group and discuss regularity properties (in the sense of Milnor)…
We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar\'e equations with advected parameters. We find a…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
A general scheme of construction and analysis of physical fields on the various homogeneous spaces of the Poincar\'{e} group is presented. Different parametrizations of the field functions and harmonic analysis on the homogeneous spaces are…
The aim of this review paper is to explain the relevance of Lie groupoids and Lie algebroids to both physicists and noncommutative geometers. Groupoids generalize groups, spaces, group actions, and equivalence relations. This last aspect…
An optimization method used in image-processing (metamorphosis) is found to imply Euler's equations for incompressible flow of an inviscid fluid, without requiring that the Lagrangian particle labels exactly follow the flow lines of the…
We introduce the universal Euler characteristic of orbit space definable groupoids, a class of groupoids containing cocompact proper Lie groupoids as well as translation groupoids associated to proper definable group actions. We show that…
This paper addresses the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with such mechanical systems enjoy certain…
This paper develops a generalized formulation of Lagrangian mechanics on fibered manifolds, together with a reduction theory for symmetries corresponding to Lie groupoid actions. As special cases, this theory includes not only Lagrangian…
Matrix Lie groups provide a language for describing motion in such fields as robotics, computer vision, and graphics. When using these tools, we are often faced with turning infinite-series expressions into more compact finite series (e.g.,…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
This paper presents the continuous and discrete variational formulations of simple thermodynamical systems whose configuration space is a (finite dimensional) Lie group. We follow the variational approach to nonequilibrium thermodynamics…
In the pattern matching approach to imaging science, the process of ``metamorphosis'' is template matching with dynamical templates. Here, we recast the metamorphosis equations of into the Euler-Poincare variational framework of and show…
We will prove that the generalized Lie algebroid is a distinguished example by Lie algebroid. The generality of it with respect to the Lie algebroid is similar with the generality of the pull-back vector bundle with respect to the vector…
Problems involving control of large ensmebles of structurally identical dynamical systems, called \emph{ensemble control}, arise in numerous scientific areas from quantum control and robotics to brain medicine. In many of such applications,…