Related papers: Motion on Lie groups and its applications in Contr…
We give a new method for manufacturing complete minimal submanifolds of compact Lie groups and their homogeneous quotient spaces. For this we make use of harmonic morphisms and basic representation theory of Lie groups. We then apply our…
In this paper, we develop the deformation theory controlled by pre-Lie algebras; the main tool is a new integration theory for pre-Lie algebras. The main field of application lies in homotopy algebra structures over a Koszul operad; in this…
The N-dimensional Cayley-Klein scheme allows the simultaneous description of $3^N$ geometries (symmetric orthogonal homogeneous spaces) by means of a set of Lie algebras depending on $N$ real parameters. We present here a quantum…
In this paper, we examine Lie group actions on moduli spaces (sets themselves built as quotients by group actions) and their fixed points. We show that when the Lie group is compact and connected, we obtain a linear constraint. This…
Many physically important mechanical systems may be described with a Lie group $G$ as configuration space. According to the well-known Noether's theorem, underlying symmetries of the Lie group may be used to considerably reduce the…
We study a time minimization problem on the group of motions of a plane with admissible control in a half-disk. The considered control system describes a model of a car that can move forward on a plane and turn in place. Optimal…
A general study of symmetries in optimal control theory is given, starting from the presymplectic description of this kind of system. Then, Noether's theorem, as well as the corresponding reduction procedure (based on the application of the…
Several integration schemes exits to solve the equations of motion of the $N$-body problem. The Lie-integration method is based on the idea to solve ordinary differential equations with Lie-series. In the 1980s this method was applied for…
We discuss the use of Dirac structures to obtain a better understanding of the geometry of a class of optimal control problems and their reduction by symmetries. In particular we will show how to extend the reduction of Dirac structures…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…
This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra.…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential equations (neural ODEs), and formulate the optimization…
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…
In Part I of this series we presented the general ideas of applying group-algebraic methods for describing quantum systems. The treatment was there very "ascetic" in that only the structure of a locally compact topological group was used.…
We derive the Lie and the Noether conditions for the equations of motion of a dynamical system in a $n-$dimensional Riemannian space. We solve these conditions in the sense that we express the symmetry generating vectors in terms of the…
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…
This paper presents a derivation of the parallel transport equation expressed in the Lie algebra of a Lie group endowed with a left-invariant metric.The use of this equation is exemplified on the group of rigid body motions SE(3), using…
Carnot groups are distinguished spaces that are rich of structure: they are those Lie groups equipped with a path distance that is invariant by left-translations of the group and admit automorphisms that are dilations with respect to the…