Related papers: Motion on Lie groups and its applications in Contr…
This paper is devoted to the development and applications of some (new) basic concepts in Lie theory, both from `computational" and "observability" viewpoint. We specify set of all "G-equivariant" maps from a given Lie group G to the…
Learning the dynamics of a physical system wherein an autonomous agent operates is an important task. Often these systems present apparent geometric structures. For instance, the trajectories of a robotic manipulator can be broken down into…
We discuss the basic properties of Lie groupoids, Lie algebroids and Lie pseudo-groups in view of applying these techniques to the analysis of Jordan-H\"older resolutions and, subsequently, to the integration of partial differential…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
This paper is a study of the Lie groups of point symmetries admitted by a system describing a non-stationary planar flow of an ideal plastic material. For several types of forces involved in the system, the infinitesimal generators which…
A Lie system is a nonautonomous system of first-order differential equations possessing a superposition rule, i.e. a map expressing its general solution in terms of a generic finite family of particular solutions and some constants.…
Orbits of coadjoint representations of classical compact Lie groups have a lot of applications. They appear in representation theory, geometrical quantization, theory of magnetism, quantum optics etc. As geometric objects the orbits were…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift…
We describe a method to analyze and decompose the dynamics of a control system on a Lie group subject to symmetries. The method is based on the concept of generalized Young symmetrizers of representation theory. It naturally applies to the…
I present in this paper some tools in Symplectic and Poisson Geometry in view of their applications in Geometric mechanics and Mathematical Physics. After a short discussion of the Lagrangian and Hamiltonian formalisms, including the use of…
The equivariant movability of topological spaces with an action of a given topological group $G$ is considered. In particular, the equivariant movability of topological groups is studied. It is proved that a second countable group $G$ is…
The study of the relation between Lie algebras and groups, and especially the derivation of new algebras from them, is a problem of great interest in mathematics and physics, because finding a new Lie group from an already known one also…
Lie-symmetry methods are used to determine the symmetry group of reduced magnetohydrodynamics. This group allows for arbitrary, continuous transformations of the fields themselves, along with space-time transformations. The derivation…
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…
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of such systems is commonly invariant to the induced action by…
In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…
Quantum theory can be formulated as a theory of operations, more specific, of complex represented operations from real Lie groups. Hilbert space eigenvectors of acting Lie operations are used as states or particles. The simplest simple Lie…
We present an application of Hodge theory towards the study of irreducible unitary representations of reductive Lie groups. We describe a conjecture about such representations and discuss some progress towards its proof.
We give a systematic treatment of the stability theory for action of a real reductive Lie group G on a topological space. More precisely, we introduce an abstract setting for actions of non-compact real reductive Lie groups on topological…