相关论文: Pontryagin calculus in Riemannian geometry

In this work, we consider a mechanical system whose mass tensor implements a scalar product in a Riemannian manifold. This system is controlled with the help of forces and torques. A cost functional is minimized to achieve an optimal…

This paper aims at the most comprehensive and systematic construction and tabulation of mechanical systems that admit a second invariant, quadratic in velocities, other than the Hamiltonian. The configuration space is in general a 2D…

We suggest to use "minimal" choice of quantum gravity theory, that is the quantum field theory, in which space-time is seen as Riemannian space and metric (or vierbein field) is the dynamical variable. We then suggest to use the simplest…

We deal with Lagrangian systems that are invariant under the action of a symmetry group. The mechanical connection is a principal connection that is associated to Lagrangians which have a kinetic energy function that is defined by a…

In this article, we analyze the Pontryagin model adopting different geometric-covariant approaches. In particular, we focus on the manner in which boundary conditions must be imposed on the background manifold in order to reproduce an…

The Covariant Canonical Gauge theory of Gravity (CCGG) is a gauge field formulation of gravity which a priori includes non-metricity and torsion. It extends the Lagrangian of Einstein's theory of general relativity by terms at least…

Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (often appearing as indirect methods of optimal control), we…

We give an introductory overview of the classical Poincar\'e gauge theory of gravity formulated on the spacetime manifold that carries the Riemann-Cartan geometry with nontrivial curvature and torsion. After discussing the basic…

It is well known that for a given Poisson structure one has infinitely many star products related through the Kontsevich gauge transformations. These gauge transformations have an infinite functional dimension (i.e., correspond to an…

We consider the motion planning of an object in a Riemannian manifold where the object is steered from an initial point to a final point utilizing optimal control. Considering Pontryagin Minimization Principle we compute the Optimal…

A manifest covariant equilibrium statistical mechanics is constructed starting with a 8N dimensional extended phase space which is reduced to the 6N physical degrees of freedom using the Poincare-invariant constrained Hamiltonian dynamics…

The Poincar\'e (inhomogeneous Lorentz) group underlies special relativity. In these lectures a consistent formalism is developed allowing an appropriate gauging of the Poincar\'e group. The physical laws are formulated in terms of points,…

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…

Absolute space is eliminated from the body of mechanics by gauging translations and rotations in the Lagrangian of a classical system. The procedure implies the addition of compensating terms to the kinetic energy, in such a way that the…

Riemannian geometry is a mathematical field which has been the cornerstone of revolutionary scientific discoveries such as the theory of general relativity. Despite early uses in robot design and recent applications for exploiting data with…

We discuss global tensor invariants of a rigid body motion in the cases of Euler, Lagrange and Kovalevskaya. These invariants are obtained by substituting tensor fields with cubic on variable components into the invariance equation and…

We discuss the choice of the Lagrangian in the Poincar\'e gauge theory of gravity. Drawing analogies to earlier de Sitter gauge models, we point out the possibility of deriving the Einstein-Cartan Lagrangian {\it without} cosmological term…

We propose a cosmological model in the framework of the Poincar\'e gauge theory of gravity (PG). The gravitational Lagrangian is quadratic in curvature and torsion. In our specific model, the Lagrangian contains (i) the curvature scalar $R$…

Classical relativistic system of point particles coupled with an electromagnetic field is considered in the three-dimensional representation. The gauge freedom connected with the chronometrical invariance of the four-dimensional description…

We introduce a mathematical technique based on modifying a given Riemannian metric and we investigate its applicability to controlling and stabilizing constrained mechanical systems. In essence our result is based on the construction of a…