Conjugate time in the sub-Riemannian problem on the Cartan group

DOI10.1007/S10883-021-09542-5MaRDI QIDQ2240786zbMATH OpenOpenAlexWikidataFDO

Authors Yu L. Sachkov

Publication date 4 November 2021

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2005.13937

zbMATH Keywords

Cartan groupconjugate timeMaxwell timesub-Riemannian geometry

Mathematics Subject Classification ID

Sub-Riemannian geometry (53C17) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: The Cartan group is the free nilpotent Lie group of rank 2 and step 3. We consider the left-invariant sub-Riemannian problem on the Cartan group defined by an inner product in the first layer of its Lie algebra. This problem gives a nilpotent approximation of an arbitrary sub-Riemannian problem with the growth vector $(2,3,5)$. In previous works we described a group of symmetries of the sub-Riemannian problem on the Cartan group, and the corresponding Maxwell time -- the first time when symmetric geodesics intersect one another. It is known that geodesics are not globally optimal after the Maxwell time. In this work we study local optimality of geodesics on the Cartan group. We prove that the first conjugate time along a geodesic is not less than the Maxwell time corresponding to the group of symmetries. We characterize geodesics for which the first conjugate time is equal to the first Maxwell time. Moreover, we describe continuity of the first conjugate time near infinite values.

Recommendations

• Cut time in the sub-Riemannian problem on the Cartan group
• A sub-Finsler problem on the Cartan group
• Cut time in sub-Riemannian problem on Engel group
• Conjugate and cut time in the sub-Riemannian problem on the group of motions of a plane
• Maxwell strata and conjugate points in the sub-Riemannian problem on the Lie group SH(2)

Cites work

• A comprehensive introduction to sub-Riemannian geometry. From the Hamiltonian viewpoint. With an appendix by Igor Zelenko
• A course of modern analysis
• A tour of subriemannian geometries, their geodesics and applications
• Conjugate and cut time in the sub-Riemannian problem on the group of motions of a plane
• Conjugate points in nilpotent sub-Riemannian problem on the Engel group
• Conjugate points in the Euler elastic problem
• Control theory from the geometric viewpoint.
• Cut locus and optimal synthesis in sub-Riemannian problem on the Lie group SH(2)
• Cut time in sub-Riemannian problem on Engel group
• Discrete symmetries in the generalized Dido problem
• Exponential map in the generalized Dido problem
• Extremal trajectories in a nilpotent sub-Riemannian problem on the Engel group
• Geodesics and shortest arcs of a special sub-Riemannian metric on the Lie group \(\mathrm{SL}(2)\)
• Geodesics and shortest arcs of a special sub-Riemannian metric on the Lie group \(\mathrm{SO}(3)\)
• Geometry of optimal control problems and Hamiltonian systems
• scientific article; zbMATH DE number 426001 (Why is no real title available?)
• scientific article; zbMATH DE number 1824054 (Why is no real title available?)
• scientific article; zbMATH DE number 3167340 (Why is no real title available?)
• scientific article; zbMATH DE number 3759031 (Why is no real title available?)
• scientific article; zbMATH DE number 1241691 (Why is no real title available?)
• scientific article; zbMATH DE number 1005873 (Why is no real title available?)
• scientific article; zbMATH DE number 2617 (Why is no real title available?)
• scientific article; zbMATH DE number 3220 (Why is no real title available?)
• scientific article; zbMATH DE number 953395 (Why is no real title available?)
• Integrability and nonintegrability of sub-Riemannian geodesic flows on Carnot groups
• Invariant Carnot–Caratheodory Metrics on S³, SO(3), SL(2), and Lens Spaces
• Liouville integrability of sub-Riemannian problems on Carnot groups of step 4 or greater
• Maxwell strata and cut locus in the sub-Riemannian problem on the Engel group
• Methodus inveniendi lineas curvas maximi minimive proprietate gaudentes, sive solutio problematis isoperimetrici lattissimo sensu accepti
• Nilpotent \((3, 6)\) sub-Riemannian problem
• Symmetries of flat rank two distributions and sub-Riemannian structures
• The geometry of the plate-ball problem
• The Maxwell set in the generalized Dido problem

Cited in

(10)

• A sub-Finsler problem on the Cartan group
• Sub-Riemannian Cartan sphere
• Conjugate and cut time in the sub-Riemannian problem on the group of motions of a plane
• Maxwell strata and conjugate points in the sub-Riemannian problem on the Lie group SH(2)
• Cut time in the sub-Riemannian problem on the Cartan group
• Left-invariant optimal control problems on Lie groups: classification and problems integrable by elementary functions
• Discrete symmetries in the generalized Dido problem
• Abnormal trajectories in the sub-Riemannian \((2,3,5,8)\) problem
• Abnormal extremals in the sub-Riemannian problem with growth vector (2, 3, 5, 8, 14)
• Sub-Riemannian geodesics on the Heisenberg 3D nil-manifold

This page was built for publication: Conjugate time in the sub-Riemannian problem on the Cartan group

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2240786)