arXiv research

The paper explores representations of graph manifolds to Seifert motion groups.

Paper computes motion groups of links using TQFTs, proving a conjecture.

Interactive art piece shows braid groups and plane motions.

New matrices link point motions to braid groups.

The Bounded Spherical Functions are determined for a Cartan Motion Group

The paper derives Gauss-Bonnet theorems for deformed connections in affine and rigid motions groups.

In this paper, we compute sub-Riemannian limits of Gaussian curvature for a Euclidean $C^2$-smooth surface in the affine group and the group of rigid motions of the Minkowski plane away from characteristic points and signed geodesic curvature for Euclidean $C^2$-smooth curves on surfaces. We get Gauss-Bonnet theorems i…

Study cohomological equation for robotic screw motions on SE(3).

In this paper we compute a presentation for the group of ring motions of the split union of a Hopf link with Euclidean components and a Euclidean circle. A key part of this work is the study of a short exact sequence of groups of ring motions of general ring links in $\mathbb{R}^3$. This sequence allowed us to build th…

The cohomology of the pure string motion group PSigma_n admits a natural action by the hyperoctahedral group W_n. Church and Farb conjectured that for each k > 0, the sequence of degree k rational cohomology groups of PSigma_n is uniformly representation stable with respect to the induced action by W_n, that is, the de…

We show that a well known uncertainty principle for functions on the circle can be derived from an uncertainty principle for the Euclidean motion group.

Equations of motion for linear Hamiltonians in the real Jacobi group

We design an algorithm writing down presentations of graph braid groups. Generators are represented in terms of actual motions of robots moving without collisions on a given graph. A key ingredient is a new motion planning algorithm whose complexity is linear in the number of edges and quadratic in the number of robots…

A framework for computing holonomy groups of hybrid systems to achieve forward motion.

The book explores stochastic areas and heat kernels on manifolds.

In this paper we show that Galilean group is a matrix Lie group and find its structure. Then provide the invariants of special Galilean geometry of motions, by Olver's method of moving coframes, we also find the corresponding $\{e\}-$structure.

The description of invariants of surfaces with respect to the motion groups is reduced to the description of invariants of parameterized surfaces with respect to the motion groups. Existence of a commuting system of invariant partial differential operators (derivatives) and a finite system of invariants, such that any …

Study of rigid body displacements in a projective space over dual numbers with geometric interpretations.

Study of motion control systems on Lie groups with specific geometric constraints.

Differential invariants of a (pseudo)group action can vary when restricted to invariant submanifolds (differential equations). The algebra is still governed by the Lie-Tresse theorem, but may change a lot. We describe in details the case of the motion group $O(n)\ltimes\R^n$ acting on the full (unconstraint) jet-space …

Study the space of embeddings of split links in 3D and 4D.

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integra…

An embedding of the group $\Diff(S^{1})$ of orientation preserving diffeomorphims of the unit circle $S^1$ into an infinite-dimensional symplectic group, $\Sp(\infty)$, is studied. The authors prove that this embedding is not surjective. A Brownian motion is constructed on $\Sp(\infty)$. This study is motivated by rece…

Study nonrigid dynamics of unitary groups on Lie groups via kinetic energy metrics.

Collective motion of animal groups often undergoes changes due to perturbations. In a topological sense, we describe these changes as switching between low-dimensional embedding manifolds underlying a group of evolving agents. To characterize such manifolds, first we introduce a simple mapping of agents between time-st…

SL(N,C) is the phase space of the Poisson SU(N). We calculate explicitly the symplectic structure of SL(N,C), define an analogue of the Hamiltonian of the free motion on SU(N) and solve the corresponding equations of motion. Velocity is related to the momentum by a non-linear Legendre transformation.

Representations of coherent state Lie algebras on coherent state manifolds as first order differential operators are presented. The explicit expressions of the differential action of the generators of semisimple Lie groups determine for linear Hamiltonians in the generators of the groups first order differential equati…

Poisson plane and sphere --- homogeneous spaces of Poisson groups E(2) and SU(2) (resp.) --- have phase spaces (corresponding symplectic groupoids), in which a free Hamiltonian is naturally defined. We solve the equations of motion and point out some unexpected features: free motion on the plane is bounded (periodic) a…

This paper surveys options pricing under arithmetic Brownian motion and derives formulas for various types of options.

Paper derives and applies a parallel transport equation on Lie groups.

Using the basic Lie symmetry method, we find the most general Lie point symmetries group of the $\nabla u=f(u)$ Poisson's equation, which has a subalgebra isomorphic to the $3-$dimensional special Euclidean group ${\rm SE}(3)$ or group of rigid motions of ${\Bbb R}^3$. Looking the adjoint representation of ${\rm SE}(3)…

Unified geometric framework for Brownian motion on various manifolds.

For every compact surface $S$ of finite type (possibly with boundary components but without punctures), we show that when $n$ is sufficiently large there is no lift $σ$ of the surface braid group $B_n(S)$ to $\operatorname{Diff}(S,n)$, the group of $C^1$ diffeomorphisms preserving $n$ marked points and restricting to t…

Let $G$ be a Lie Group with a left invariant connection such that its connection function is skew-symmetric. Our main goal is to show a version of Pluzhnikov's Theorem for this kind of connection. To this end, we use the stochastic logarithm. More exactly, the stochastic logarithm gives characterizations for Brownian m…

Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general position arrangements and Eilenberg-Mac Lane spaces associated to right-angled Ar…

We study the radial part of sub-Riemannian Brownian motion in the context of totally geodesic foliations. Itô's formula is proved for the radial processes associated to Riemannian distances approximating the Riemannian one. We deduce very general stochastic completeness criteria for the sub-Riemannian Brownian motion. …

We rephrase the problem of 3D reconstruction from images in terms of intersections of projections of orbits of custom built Lie groups actions. We then use an algorithmic method based on moving frames "a la Fels-Olver" to obtain a fundamental set of invariants of these groups actions. The invariants are used to define …

We construct many new invariant solutions to the Strominger system with respect to a 2-parameter family of metric connections $\nabla^{\varepsilon,ρ}$ in the anomaly cancellation equation. The ansatz $\nabla^{\varepsilon,ρ}$ is a natural extension of the canonical 1-parameter family of Hermitian connections found by Ga…

The paper studies how points and lines can move while preserving incidences.

This paper develops efficient algorithms for multibody dynamics using screw and Lie group theory.

Study on Langevin dynamics on planar motion group, highlighting geometric mechanism.

Paper provides closed-form time derivatives for rigid body systems.

Researchers prove long-time existence for two landmark Brownian motion.

This paper constructs Brownian motion on complex flag manifolds and finds joint distribution of stochastic areas.

Study Brownian motion on Grassmann manifold using matrix stochastic calculus.

We characterise completely when limit sets, as parametrised by Cannon-Thurston maps, move discontinuously for a sequence of algebraically convergent quasi-Fuchsian groups.

We fully develop the concept of causal symmetry introduced in Class. Quant. Grav. 20 (2003) L139. A causal symmetry is a transformation of a Lorentzian manifold (V,g) which maps every future-directed vector onto a future-directed vector. We prove that the set of all causal symmetries is not a group under the usual comp…

This paper extends invariant Euler-Lagrange equations to higher dimensions and groups.