Snakes and articulated arms in an Hilbert space

DOI10.5802/AFST.1381MaRDI QIDQ2452087zbMATH OpenOpenAlexFDO

Authors F. Pelletier, Rebhia Saffidine

Publication date 30 May 2014

Published in Annales de la Faculté des Sciences de Toulouse. Mathématiques. Série VI (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1111.5973

zbMATH Keywords

articulated armscurves in Hilbert spacesinfinite-dimensional distributionsintegrability of distributionssnakes

Mathematics Subject Classification ID

Distributions on infinite-dimensional spaces (46F25) Miscellaneous applications of functional analysis (46N99) Sub-Riemannian geometry (53C17) Infinite-dimensional manifolds (58B99) Integration on manifolds; measures on manifolds (58C35)

Abstract: The purpose of this paper is to give an illustration of results on integrability of distributions and orbits of vector fields on Banach manifolds obtained in [Pe] and [LaPe]. Using arguments and results of these papers, in the context of a separable Hilbert space, we give a generalization of a Theorem of accessibility contained in [Ha], [Ro] and proved for a finite dimensional Hilbert space

Review text

A snake in a vector space \(V\) is a piecewise \(C^1\) curve \(S: [0,L]\to V\), with \(S(0)=0\), and an articulated arm is a piecewise affine snake. The problem of ``charming a snake consists of finding a \(1\)-parameter family of snakes \(S_t\) such that the head moves according to a prescribed curve, \(S_t(L)=c(t)\), see \textit{E. Rodriguez} [L'algorithme du charmeur de serpents. Genève: Univ. de Genève, Faculté des Sciences (Diss.) (2006; Zbl 1145.53300)]. In the present paper, the authors use results on integrability of distributions and orbits of vector fields on Banach manifolds to study the problem of charming snakes in a separable Hilbert space. The approach used is that of an accessibility problem, defining a horizontal distribution on the space of configurations of snakes and then seeking a horizontal curve that joins the desired initial and final configurations.

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Cites work

• Almost Lie structures on an anchored Banach bundle
• Control of robot arms and Möbius transforms
• scientific article; zbMATH DE number 5315132 (Why is no real title available?)
• scientific article; zbMATH DE number 3186047 (Why is no real title available?)
• Integrability of weak distributions on Banach manifolds
• On Sussmann theorem for orbits of sets of vector fields on Banach manifolds
• Orbits of Families of Vector Fields and Integrability of Distributions

Cited in

(3)

• Holonomy orbits of the snake charmer algorithm
• Almost Lie structures on an anchored Banach bundle
• Möbius transformations and the configuration space of a Hilbert snake

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