相关论文: Euler Poincare Dynamics and Control on Lie Groupoi…

A famous theorem of Dixmier-Malliavin asserts that every smooth, compactly-supported function on a Lie group can be expressed as a finite sum in which each term is the convolution, with respect to Haar measure, of two such functions. We…

In this paper we propose a framework to leverage Lie group symmetries on arbitrary spaces exploiting \textit{algebraic signal processing} (ASP). We show that traditional group convolutions are one particular instantiation of a more general…

In these lectures notes I discuss the Linearization Theorem for Lie groupoids, and its relation to the various classical linearization theorems for submersions, foliations and group actions. In particular, I explain in some detail the…

A Lie groupoid, called \textit{material Lie groupoid}, is associated in a natural way to any elastic material. The corresponding Lie algebroid, called \textit{material algebroid}, is used to characterize the uniformity and the homogeneity…

We consider a bilinear control problem for the wave equation on a torus of arbitrary dimension. We show that the system is globally approximately controllable in arbitrarily small times from a dense family of initial states. The control…

This paper proposes a new general methodology for finite-time singularity formation for moving interface problems involving the incompressible Euler equations in the plane. The first problem considered is the two-phase Euler vortex sheets…

Starting with some motivating examples (classical atlases for a manifold, space of leaves of a foliation, group orbits), we propose to view a Lie groupoid as a generalized atlas for the "virtual structure" of its orbit space, the…

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…

For For a given PDE system, or an exterior differential system possessing a Lie group of internal symmetries the orbit reduction procedure is introduced. It is proved that the solutions of the reduced exterior differential system are in…

We give explicit computations of the $\Gamma$-Euler characteristic of several families of orbit space definable translation groupoids. These include the translation groupoids associated to finite-dimensional linear representations of the…

This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…

Euler-Poincare equations are derived for the dynamical folding of charged molecular strands (such as DNA) modeled as flexible continuous filamentary distributions of interacting rigid charge conformations. The new feature is that the…

For over fifty years, the dynamical systems perspective has had a prominent role in evolutionary biology and economics, through the lens of game theory. In particular, the study of replicator differential equations on the standard…

This article presents a generalization of the notion of \emph{Poincar\'e rotation set} to homeomorphisms of the ad\`ele class group $\mathbb{A}/\mathbb{Q}$ of the rational numbers $\mathbb{Q}$, which is a connected compact abelian group…

In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions for optimality; these necessary conditions typically yield two…

We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…

We introduce a general notion of quantum universal enveloping algebroids (QUE algebroids), or quantum groupoids, as a unification of quantum groups and star-products. Some basic properties are studied including the twist construction and…

Bilinear systems emerge in a wide variety of fields as natural models for dynamical systems ranging from robotics to quantum dots. Analyzing controllability of such systems is of fundamental and practical importance, for example, for the…

Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…

In this paper we present a novel approach for the prescription of high order boundary conditions when approximating the solution of the Euler equations for compressible gas dynamics on curved moving domains. When dealing with curved…