Sub Riemannian Geometry

Author: André Bellaïche
Publisher: Springer Science & Business Media
ISBN: 9783764354763
Size: 65.32 MB
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Sub-Riemannian geometry (also known as Carnot geometry in France, and non-holonomic Riemannian geometry in Russia) has been a full research domain for fifteen years, with motivations and ramifications in several parts of pure and applied mathematics, namely: • control theory • classical mechanics • Riemannian geometry (of which sub-Riemannian geometry constitutes a natural generalization, and where sub-Riemannian metrics may appear as limit cases) • diffusion on manifolds • analysis of hypoelliptic operators • Cauchy-Riemann (or CR) geometry. Although links between these domains had been foreseen by many authors in the past, it is only in recent years that sub- Riemannian geometry has been recognized as a possible common framework for all these topics. This book provides an introduction to sub-Riemannian geometry and presents the state of the art and open problems in the field. It consists of five coherent and original articles by the leading specialists: • André Bellaïche: The tangent space in sub-Riemannian geometry • Mikhael Gromov: Carnot-Carathéodory spaces seen from within • Richard Montgomery: Survey of singular geodesics • Héctor J. Sussmann: A cornucopia of four-dimensional abnormal sub-Riemannian minimizers • Jean-Michel Coron: Stabilization of controllable systems

Control Of Nonholonomic Systems From Sub Riemannian Geometry To Motion Planning

Author: Frédéric Jean
Publisher: Springer
ISBN: 3319086901
Size: 10.12 MB
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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.

Geometric Control Theory And Sub Riemannian Geometry

Author: Gianna Stefani
Publisher: Springer
ISBN: 331902132X
Size: 54.58 MB
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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.

Sub Riemannian Geometry And Optimal Transport

Author: Ludovic Rifford
Publisher: Springer Science & Business Media
ISBN: 331904804X
Size: 33.13 MB
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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.

Sub Riemannian Geometry

Author: Ovidiu Calin
Publisher:
ISBN: 9781299707320
Size: 42.30 MB
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A comprehensive text and reference on sub-Riemannian and Heisenberg manifolds using a novel and robust variational approach.

An Introduction To The Heisenberg Group And The Sub Riemannian Isoperimetric Problem

Author: Luca Capogna
Publisher: Springer Science & Business Media
ISBN: 3764381337
Size: 64.24 MB
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This book gives an up-to-date account of progress on Pansu's celebrated problem on the sub-Riemannian isoperimetric profile of the Heisenberg group. It also serves as an introduction to the general field of sub-Riemannian geometric analysis. It develops the methods and tools of sub-Riemannian differential geometry, nonsmooth analysis, and geometric measure theory suitable for attacks on Pansu's problem.

Geometry Analysis And Dynamics On Sub Reimannian Manifolds

Author: Davide Barilari
Publisher:
ISBN: 9783037191620
Size: 72.75 MB
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Sub-Riemannian manifolds model media with constrained dynamics: motion at any point is allowed only along a limited set of directions, which are prescribed by the physical problem. From the theoretical point of view, sub-Riemannian geometry is the geometry underlying the theory of hypoelliptic operators and degenerate diffusions on manifolds. In the last twenty years, sub-Riemannian geometry has emerged as an independent research domain, with extremely rich motivations and ramifications in several parts of pure and applied mathematics, such as geometric analysis, geometric measure theory, stochastic calculus and evolution equations together with applications in mechanics, optimal control and biology. The aim of the lectures collected here is to present sub-Riemannian structures for the use of both researchers and graduate students.

A Tour Of Subriemannian Geometries Their Geodesics And Applications

Author: Richard Montgomery
Publisher: American Mathematical Soc.
ISBN: 0821841653
Size: 74.47 MB
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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.