相关论文: Geometry of optimal control problems and Hamiltoni…

These are notes for a Ph.D.\ course I held at SISSA, Trieste, in the Winter 2025. We review well-known topics in Riemannian geometry where Lie groups play a fundamental role. Part of the theory of compact connected Lie groups, their…

The curvature discussed in this paper is a rather far going generalization of the Riemannian sectional curvature. We define it for a wide class of optimal control problems: a unified framework including geometric structures such as…

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…

In this paper we discuss a general framework based on symplectic geometry for the study of second order conditions in constrained variational problems on curves. Using the notion of L-derivatives we construct Jacobi curves, which represent…

These are notes related to a 12-hour course of lectures given at the Centre de Recerca Mathem\`atica near Barcelona in February, 2010. The aim of the course was to explain results on curves and their Jacobians over function fields, with…

These are lecture notes for a 4h mini-course held in Toulouse, May 9-12th, at the thematic school on "Quantum topology and geometry". The goal of these lectures is to (a) explain some incarnations, in the last ten years, of the idea of…

This note surveys some classical results and recent developments on the interplay between lower curvature bounds and the isoperimetric problem. It is based on mini-courses given at the European Doctorate School of Differential Geometry…

The Jacobi curve of an extremal of optimal control problem is a curve in a Lagrangian Grassmannian defined up to a symplectic transformation and containing all information about the solutions of the Jacobi equations along this extremal. In…

This is an expanded version of the lecture notes for a minicourse that I gave at a summer school called "Advanced Course on Geometry and Dynamics of Integrable Systems" at CRM Barcelona, 9--14/September/2013. In this text we study the…

In this article, we analyze Hamiltonian Monte Carlo (HMC) by placing it in the setting of Riemannian geometry using the Jacobi metric, so that each step corresponds to a geodesic on a suitable Riemannian manifold. We then combine the notion…

In this paper, we review the discrete Hamilton--Jacobi theory from a geometric point of view. In the discrete realm, the usual geometric interpretation of the Hamilton--Jacobi theory in terms of vector fields is not straightforward. Here,…

We geometrically describe optimal control problems in terms of Morse families in the Hamiltonian framework. These geometric structures allow us to recover the classical first order necessary conditions for optimality and the starting point…

The aim of this paper is to give some existence results of optimal control of robotic systems with a Riemannian geometric view, and derive a formulation of the PMP using the intrinsic geometry of the configuration space. Applying this…

The present lectures were prepared for the Faro International Summer School on Factorization and Integrable Systems in September 2000. They were intended for participants with the background in Analysis and Operator Theory but without…

Riemannian geometry is a particular case of Hamiltonian mechanics: the orbits of the hamiltonian $H=\frac{1}{2}g^{ij}p_{i}p_{j}$ are the geodesics. Given a symplectic manifold (\Gamma,\omega), a hamiltonian $H:\Gamma\to\mathbb{R}$ and a…

This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…

Lecture notes of a course on birational geometry (taught at College de France, Winter 2011, with the support of Fondation Sciences Math\'ematiques de Paris). Topics covered: introduction into the subject, contractions and extremal rays,…

This is a survey article, from the viewpoint of the completeness of the Marsden- Weinstein reduction, to introduce briefly some recent developments of the symmetric reductions and Hamilton-Jacobi theory of the regular controlled Hamiltonian…

We discuss contact geometry naturally related with optimal control problems (and Pontryagin Maximum Principle). We explore and expand the observations of [Ohsawa, 2015], providing simple and elegant characterizations of normal and abnormal…

Awfully idiosyncratic lecture notes from CMI summer school in arithmetic geometry July 31-August 4, 2006. Does not include: rationality problems, techniques of the minimal model problem and much of the rest. Includes: Lecture 0: geometry…