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Author: Richard Montgomery
Publisher: American Mathematical Soc.
ISBN: 0821841653
Category : Mathematics
Languages : en
Pages : 282
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Book Description
Subriemannian geometries can be viewed as limits of Riemannian geometries. They arise naturally in many areas of pure (algebra, geometry, analysis) and applied (mechanics, control theory, mathematical physics) mathematics, as well as in applications (e.g., robotics). This book is devoted to the study of subriemannian geometries, their geodesics, and their applications. It starts with the simplest nontrivial example of a subriemannian geometry: the two-dimensional isoperimetric problem reformulated as a problem of finding subriemannian geodesics. Among topics discussed in other chapters of the first part of the book are an elementary exposition of Gromov's idea to use subriemannian geometry for proving a theorem in discrete group theory and Cartan's method of equivalence applied to the problem of understanding invariants of distributions. The second part of the book is devoted to applications of subriemannian geometry. In particular, the author describes in detail Berry's phase in quantum mechanics, the problem of a falling cat righting herself, that of a microorganism swimming, and a phase problem arising in the $N$-body problem. He shows that all these problems can be studied using the same underlying type of subriemannian geometry. The reader is assumed to have an introductory knowledge of differential geometry. This book that also has a chapter devoted to open problems can serve as a good introduction to this new, exciting area of mathematics.
Author: Richard Montgomery
Publisher: American Mathematical Soc.
ISBN: 0821841653
Category : Mathematics
Languages : en
Pages : 282
Get Book
Book Description
Subriemannian geometries can be viewed as limits of Riemannian geometries. They arise naturally in many areas of pure (algebra, geometry, analysis) and applied (mechanics, control theory, mathematical physics) mathematics, as well as in applications (e.g., robotics). This book is devoted to the study of subriemannian geometries, their geodesics, and their applications. It starts with the simplest nontrivial example of a subriemannian geometry: the two-dimensional isoperimetric problem reformulated as a problem of finding subriemannian geodesics. Among topics discussed in other chapters of the first part of the book are an elementary exposition of Gromov's idea to use subriemannian geometry for proving a theorem in discrete group theory and Cartan's method of equivalence applied to the problem of understanding invariants of distributions. The second part of the book is devoted to applications of subriemannian geometry. In particular, the author describes in detail Berry's phase in quantum mechanics, the problem of a falling cat righting herself, that of a microorganism swimming, and a phase problem arising in the $N$-body problem. He shows that all these problems can be studied using the same underlying type of subriemannian geometry. The reader is assumed to have an introductory knowledge of differential geometry. This book that also has a chapter devoted to open problems can serve as a good introduction to this new, exciting area of mathematics.
Author: Gianna Stefani
Publisher: Springer
ISBN: 331902132X
Category : Mathematics
Languages : en
Pages : 385
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Book Description
Honoring Andrei Agrachev's 60th birthday, this volume presents recent advances in the interaction between Geometric Control Theory and sub-Riemannian geometry. On the one hand, Geometric Control Theory used the differential geometric and Lie algebraic language for studying controllability, motion planning, stabilizability and optimality for control systems. The geometric approach turned out to be fruitful in applications to robotics, vision modeling, mathematical physics etc. On the other hand, Riemannian geometry and its generalizations, such as sub-Riemannian, Finslerian geometry etc., have been actively adopting methods developed in the scope of geometric control. Application of these methods has led to important results regarding geometry of sub-Riemannian spaces, regularity of sub-Riemannian distances, properties of the group of diffeomorphisms of sub-Riemannian manifolds, local geometry and equivalence of distributions and sub-Riemannian structures, regularity of the Hausdorff volume, etc.
Author: Ludovic Rifford
Publisher: Springer Science & Business Media
ISBN: 331904804X
Category : Mathematics
Languages : en
Pages : 146
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Book Description
The book provides an introduction to sub-Riemannian geometry and optimal transport and presents some of the recent progress in these two fields. The text is completely self-contained: the linear discussion, containing all the proofs of the stated results, leads the reader step by step from the notion of distribution at the very beginning to the existence of optimal transport maps for Lipschitz sub-Riemannian structure. The combination of geometry presented from an analytic point of view and of optimal transport, makes the book interesting for a very large community. This set of notes grew from a series of lectures given by the author during a CIMPA school in Beirut, Lebanon.
Author: Andrei Agrachev
Publisher: Cambridge University Press
ISBN: 110847635X
Category : Mathematics
Languages : en
Pages : 765
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Book Description
Provides a comprehensive and self-contained introduction to sub-Riemannian geometry and its applications. For graduate students and researchers.
Author: Ovidiu Calin
Publisher: Cambridge University Press
ISBN: 0521897300
Category : Mathematics
Languages : en
Pages : 371
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Book Description
A comprehensive text and reference on sub-Riemannian and Heisenberg manifolds using a novel and robust variational approach.
Author: Toshihiro Iwai
Publisher: Springer Nature
ISBN: 9811606889
Category : Mathematics
Languages : en
Pages : 193
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Book Description
The falling cat is an interesting theme to pursue, in which geometry, mechanics, and control are in action together. As is well known, cats can almost always land on their feet when tossed into the air in an upside-down attitude. If cats are not given a non-vanishing angular momentum at an initial instant, they cannot rotate during their motion, and the motion they can make in the air is vibration only. However, cats accomplish a half turn without rotation when landing on their feet. In order to solve this apparent mystery, one needs to thoroughly understand rotations and vibrations. The connection theory in differential geometry can provide rigorous definitions of rotation and vibration for many-body systems. Deformable bodies of cats are not easy to treat mechanically. A feasible way to approach the question of the falling cat is to start with many-body systems and then proceed to rigid bodies and, further, to jointed rigid bodies, which can approximate the body of a cat. In this book, the connection theory is applied first to a many-body system to show that vibrational motions of the many-body system can result in rotations without performing rotational motions and then to the cat model consisting of jointed rigid bodies. On the basis of this geometric setting, mechanics of many-body systems and of jointed rigid bodies must be set up. In order to take into account the fact that cats can deform their bodies, three torque inputs which may give a twist to the cat model are applied as control inputs under the condition of the vanishing angular momentum. Then, a control is designed according to the port-controlled Hamiltonian method for the model cat to perform a half turn and to halt the motion upon landing. The book also gives a brief review of control systems through simple examples to explain the role of control inputs.
Author: János Pach
Publisher: American Mathematical Soc.
ISBN: 0821846914
Category : Mathematics
Languages : en
Pages : 251
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Book Description
"Based on a lecture series given by the authors at a satellite meeting of the 2006 International Congress of Mathematicians and on many articles written by them and their collaborators, this volume provides a comprehensive up-to-date survey of several core areas of combinatorial geometry. It describes the beginnings of the subject, going back to the nineteenth century (if not to Euclid), and explains why counting incidences and estimating the combinatorial complexity of various arrangements of geometric objects became the theoretical backbone of computational geometry in the 1980s and 1990s. The combinatorial techniques outlined in this book have found applications in many areas of computer science from graph drawing through hidden surface removal and motion planning to frequency allocation in cellular networks. "Combinatorial Geometry and Its Algorithmic Applications" is intended as a source book for professional mathematicians and computer scientists as well as for graduate students interested in combinatorics and geometry. Most chapters start with an attractive, simply formulated, but often difficult and only partially answered mathematical question, and describes the most efficient techniques developed for its solution. The text includes many challenging open problems, figures, and an extensive bibliography."--BOOK JACKET.
Author: Arkady Leonidovich Kholodenko
Publisher: World Scientific
ISBN: 9814412090
Category : Mathematics
Languages : en
Pages : 492
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Book Description
Although contact geometry and topology is briefly discussed in V I Arnol''d''s book Mathematical Methods of Classical Mechanics (Springer-Verlag, 1989, 2nd edition), it still remains a domain of research in pure mathematics, e.g. see the recent monograph by H Geiges An Introduction to Contact Topology (Cambridge U Press, 2008). Some attempts to use contact geometry in physics were made in the monograph Contact Geometry and Nonlinear Differential Equations (Cambridge U Press, 2007). Unfortunately, even the excellent style of this monograph is not sufficient to attract the attention of the physics community to this type of problems. This book is the first serious attempt to change the existing status quo. In it we demonstrate that, in fact, all branches of theoretical physics can be rewritten in the language of contact geometry and topology: from mechanics, thermodynamics and electrodynamics to optics, gauge fields and gravity; from physics of liquid crystals to quantum mechanics and quantum computers, etc. The book is written in the style of famous Landau-Lifshitz (L-L) multivolume course in theoretical physics. This means that its readers are expected to have solid background in theoretical physics (at least at the level of the L-L course). No prior knowledge of specialized mathematics is required. All needed new mathematics is given in the context of discussed physical problems. As in the L-L course some problems/exercises are formulated along the way and, again as in the L-L course, these are always supplemented by either solutions or by hints (with exact references). Unlike the L-L course, though, some definitions, theorems, and remarks are also presented. This is done with the purpose of stimulating the interest of our readers in deeper study of subject matters discussed in the text.
Author: Dorothea Bahns
Publisher: Birkhäuser
ISBN: 3319224077
Category : Mathematics
Languages : en
Pages : 314
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Book Description
This book presents four survey articles on different topics in mathematical analysis that are closely linked to concepts and applications in physics. Specifically, it discusses global aspects of elliptic PDEs, Berezin-Toeplitz quantization, the stability of solitary waves, and sub-Riemannian geometry. The contributions are based on lectures given by distinguished experts at a summer school in Göttingen. The authors explain fundamental concepts and ideas and present them clearly. Starting from basic notions, these course notes take the reader to the point of current research, highlighting new challenges and addressing unsolved problems at the interface between mathematics and physics. All contributions are of interest to researchers in the respective fields, but they are also accessible to graduate students.
Author: Frédéric Jean
Publisher: Springer
ISBN: 3319086901
Category : Science
Languages : en
Pages : 112
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Book Description
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
