On sub-Riemannian geodesics in SE(3) whose spatial projections do not have cusps

DOI10.1007/S10883-016-9329-4MaRDI QIDQ334633zbMATH OpenOpenAlexWikidataFDO

Authors T. C. J. Dela Haije, Remco Duits, Arpan Ghosh, Alexey P. Mashtakov

Publication date 1 November 2016

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

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/1305.6061

zbMATH Keywords

sub-Riemannian geometrygeodesicsPontryagin maximum principlespecial Euclidean motion group

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Sub-Riemannian geometry (53C17) Completely integrable systems and methods of integration for problems in Hamiltonian and Lagrangian mechanics (70H06) Analysis on real and complex Lie groups (22E30)

Abstract: We consider the problem $mathbf{P}_{curve}$ of minimizing $intlimit{s}_0^{L}sqrtx{i}^2+kapp{a}^2(s),mds$ for a curve $mathbfx$ on $mathbbR$ with fixed boundary points and directions. Here the total length $Lgeq0$ is free, $s$ denotes the arclength parameter, $kappa$ denotes the absolute curvature of $mathbfx$, and $xi>0$ is constant. We lift problem $mathbf{P}_{curve}$ on $mathbb{R}^3$ to a sub-Riemannian problem $mathbf{P}_{mec}$ on $operatornameSE(3)olimits/(mathbf0imesoperatornameSO(2)olimits)$. Here, for admissible boundary conditions, the spatial projections of sub-Riemannian geodesics do not exhibit cusps and they solve problem $mathbf{P}_{curve}$. We apply the Pontryagin Maximum Principle (PMP) and prove Liouville integrability of the Hamiltonian system. We derive explicit analytic formulas for such sub-Riemannian geodesics, relying on the co-adjoint orbit structure, an underlying Cartan connection, and the matrix representation of $operatornameSE(3)olimits$ arising in the Cartan-matrix. These formulas allow us to extract geometrical properties of the sub-Riemannian geodesics with cuspless projection, such as planarity conditions, explicit bounds on their torsion, and their symmetries. Furthermore, they allow us to parameterize all admissible boundary conditions reachable by geodesics with cuspless spatial projection. Such projections lay in the upper half space. We prove this for most cases, and the rest is checked numerically. Finally, we employ the formulas to numerically solve the boundary value problem, and visualize the set of admissible boundary conditions.

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Cited in

(13)

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• HARDI segmentation via fourth-order tensors and anisotropy preserving similarity measures
• Optimal paths for variants of the 2D and 3D Reeds-Shepp car with applications in image analysis
• Sub-Riemannian geometry in image processing and modeling of the human visual system
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• Recent geometric flows in multi-orientation image processing via a Cartan connection
• Time minimization problem on the group of motions of a plane with admissible control in a half-disc
• Extremal controls in the sub-Riemannian problem on the group of motions of Euclidean space
• Tracking of lines in spherical images via sub-Riemannian geodesics in \(\mathrm{SO}(3)\)
• Curves in \(\operatorname{SE} (3)\) and their behaviours
• New exact and numerical solutions of the (convection-)diffusion kernels on \(\mathrm{SE}(3)\)
• Cuspless sub-Riemannian geodesics within the Euclidean motion group \(\mathrm{SE}(d)\)
• Asymptotics of extremal controls in the sub-Riemannian problem on the group of motions of Euclidean space

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