Related papers: Galilean Symmetry in Robotics
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Many phenomena are naturally characterized by measuring continuous transformations such as shape changes in medicine or articulated systems in robotics. Modeling the variability in such datasets requires performing statistics on Lie groups,…
When joined the unified gauge picture of fundamental interactions, the gravitation theory leads to geometry of a space-time which is far from simplicity of pseudo-Riemannian geometry of Einstein's General Relativity. This is geometry of the…
This work presents a general geometric framework for simulating and learning the dynamics of Hamiltonian systems that are invariant under a Lie group of transformations. This means that a group of symmetries is known to act on the system…
We find a new family of galactic metrics corresponding to flat rotation curves at the outer radii. These are vacuum solutions to a gravity theory where the Newton's coupling varies mildly in space. The effective `mass', whose origin is…
Integrability, one of the classic issues in galactic dynamics and in general in celestial mechanics, is here revisited in a Riemannian geometric framework, where newtonian motions are seen as geodesics of suitable ``mechanical'' manifolds.…
Relativity and classical dynamics, as defined so far, form distinct parts of classical physics and are formulated based on independent principles. We propose that the formalism of classical dynamics can be considered as the theoretical…
In previous work we have developed a formulation of quantum mechanics in non-inertial reference frames. This formulation is grounded in a class of unitary cocycle representations of what we have called the Galilean line group, the…
We present a systematic means to impose Galilean invariance within field theory. We begin by defining the most general background geometries consistent with Galilean invariance and then turn to applications within effective field theory,…
Symmetry is present throughout nature and continues to play an increasingly central role in physics and machine learning. Fundamental symmetries, such as Poincar\'{e} invariance, allow physical laws discovered in laboratories on Earth to be…
A solution of the sourceless Einstein's equation with an infinite value for the cosmological constant \Lambda is discussed by using Inonu-Wigner contractions of the de Sitter groups and spaces. When \Lambda --> infinity, spacetime becomes a…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
Based on the Generalized Principle of Inertia, which states that: \emph{An inanimate object moves freely, that is, with zero acceleration, in its own spacetime, whose geometry is determined by all of the forces affecting it,} we geometrize…
We study the Lie point symmetries of Einstein's equations for the Friedmann-Roberstson-Walker Cosmology. They form either a two - dimensional or a three - dimensional solvable group depending on the form of the self interacting potential.…
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and…
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…
Arnold pointed out that the Euler equation of incompressible ideal hydrodynamics describes geodesics on the group of volume-preserving diffeomorphisms. A simple analogue is the Euler equation for a rigid body, which is the geodesic equation…
We introduce an approach based on moving frames for polygon recognition and symmetry detection. We present detailed algorithms for recognition of polygons modulo the special Euclidean, Euclidean, equi-affine, skewed-affine and similarity…
In theories such as teleparallel gravity and its extensions, the frame basis replaces the metric tensor as the primary object of study. A choice of coordinate system, frame basis and spin-connection must be made to obtain a solution from…
Geometric mechanics models of locomotion have provided insight into how robots and animals use environmental interactions to convert internal shape changes into displacement through the world, encoding this relationship in a ``motility…