Möbius transformations and the configuration space of a Hilbert snake

DOI10.1016/J.BULSCI.2014.12.006MaRDI QIDQ896927zbMATH OpenOpenAlexFDO

Authors F. Pelletier, Rebhia Saffidine, Naceurdine Bensalem

Publication date 15 December 2015

Published in Bulletin des Sciences Mathématiques (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1412.6743

zbMATH Keywords

Hilbert snakeinfinite-dimensional distributionsLorentz transformationMöbius Lie groupssnake controllabilitysub-Riemannian geometry

Mathematics Subject Classification ID

Infinite-dimensional Lie groups and their Lie algebras: general properties (22E65) Groups as automorphisms of other structures (22F50) Local differential geometry of Lorentz metrics, indefinite metrics (53B30) Sub-Riemannian geometry (53C17) Group structures and generalizations on infinite-dimensional manifolds (58B25) Controllability (93B05) Geometric methods (93B27)

Abstract: The purpose of this paper is to give a simpler proof to the problem of controllability of a Hilbert snake cite{PeSa}. Using the action of the M"obius group of the unit sphere on the configuration space, in the context of a separable Hilbert space. We give a generalization of the Theorem of accessibility contained in cite{Ha} and cite{Ro} for articulated arms and snakes in a finite dimensional Hilbert space

Review text

A Hilbert snake is a continuous piecewise \(C^1\) curve in a Hilbert space, which is parametrized by arclength and starts at the origin. The controllability problem for Hilbert snakes consists of finding a piecewise \(C^1\) curve in the ``configuration space of snakes joining an initial snake \(u_0\) to a final snake \(u_1\), which is tangent to a natural distribution (the complement to the kernel of the end map). This problem was previously studied by the first and second named authors in [Ann. Fac. Sci. Toulouse, Math. (6) 22, No. 3, 525--557 (2013; Zbl 1316.58007)]. The paper under review provides a simplified proof of the results in the latter, using the action of the Möbius group of the unit sphere in a Hilbert space and its sub-Riemannian structure.

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Cites work

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Cited in

(8)

• Snake-like bicompacta and some problems of dimensional theory
• States spaces of the snake and its tour: Convergence of the discrete snake
• Snakes and articulated arms in an Hilbert space
• Holonomy orbits of the snake charmer algorithm
• Invariant meridians and parallels on the hyperboloid of one sheet
• Darboux theory of integrability for real polynomial vector fields on the n ‐dimensional hyperboloid
• Control of robot arms and Möbius transforms
• Images of circles, lines, balls and half-planes under Möbius transformations

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