Geodesic boundary value problems with symmetry

DOI10.3934/JGM.2010.2.51MaRDI QIDQ983125zbMATH OpenOpenAlexFDO

Authors D. D. Holm, C. J. Cotter

Publication date 30 July 2010

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0911.2205

zbMATH Keywords

geodesics on manifoldsshape spacesymmetry reduction

Mathematics Subject Classification ID

Dynamical systems in control (37N35) Optimality conditions for problems involving relations other than differential equations (49K21) Minimal surfaces and optimization (49Q05) Geodesic flows in symplectic geometry and contact geometry (53D25) Applications of variational problems to control theory (58E25) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33)

Abstract: This paper shows how left and right actions of Lie groups on a manifold may be used to complement one another in a variational reformulation of optimal control problems equivalently as geodesic boundary value problems with symmetry. We prove an equivalence theorem to this effect and illustrate it with several examples. In finite-dimensions, we discuss geodesic flows on the Lie groups SO(3) and SE(3) under the left and right actions of their respective Lie algebras. In an infinite-dimensional example, we discuss optimal large-deformation matching of one closed curve to another embedded in the same plane. In the curve-matching example, the manifold $Emb(S^1,mathbb{R}^2)$ comprises the space of closed curves $S^1$ embedded in the plane $mathbb{R}^2$. The diffeomorphic left action $Diff(mathbb{R}^2)$ deforms the curve by a smooth invertible time-dependent transformation of the coordinate system in which it is embedded, while leaving the parameterisation of the curve invariant. The diffeomorphic right action $Diff(S^1)$ corresponds to a smooth invertible reparameterisation of the $S^1$ domain coordinates of the curve. As we show, this right action unlocks an important degree of freedom for geodesically matching the curve shapes using an equivalent fixed boundary value problem, without being constrained to match corresponding points along the template and target curves at the endpoint in time.

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• Least squares matching problems
• A reparameterisation based approach to geodesic constrained solvers for curve matching
• Extension to infinite dimensions of a stochastic second-order model associated with shape splines
• Un-reduction of systems of second-order ordinary differential equations
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• Relative geodesics in bi-invariant Lie groups
• scientific article; zbMATH DE number 5227759 (Why is no real title available?)
• Un-reduction in field theory
• Invariant higher-order variational problems. II

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