Symmetries of the rolling model

DOI10.1007/S00209-015-1508-6MaRDI QIDQ897498zbMATH OpenOpenAlexFDO

Authors Yacine Chitour, Petri Kokkonen, Mauricio Godoy Molina

Publication date 7 December 2015

Published in Mathematische Zeitschrift (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1301.2579

zbMATH Keywords

nilpotent approximationnon-holonomic distributionsrolling modelsymmetries of distributions

Mathematics Subject Classification ID

Differential geometric aspects in vector and tensor analysis (53A45) Differential invariants (local theory), geometric objects (53A55) Applications of local differential geometry to the sciences (53B50) Special connections and metrics on vector bundles (Hermite-Einstein, Yang-Mills) (53C07) Sub-Riemannian geometry (53C17) Global Riemannian geometry, including pinching (53C20) Vector distributions (subbundles of the tangent bundles) (58A30)

Abstract: In the present paper, we study the infinitesimal symmetries of the model of two Riemannian manifolds $(M,g)$ and $(hatM,hatg)$ rolling without twisting or slipping. We show that, under certain genericity hypotheses, the natural bundle projection from the state space $Q$ of the rolling model onto $M$ is a principal bundle if and only if $hatM$ has constant sectional curvature. Additionally, we prove that when $M$ and $hatM$ have different constant sectional curvatures and dimension $ngeq3$, the rolling distribution is never flat, contrary to the two dimensional situation of rolling two spheres of radii in the proportion $1colon3$, which is a well-known system satisfying 'E. Cartan's flatness condition.

Recommendations

• Symmetric spaces rolling on flat spaces
• Rolling of manifolds without spinning
• Rolling manifolds of different dimensions
• Controllability of rolling without twisting or slipping in higher dimensions
• Geometric conditions for the existence of a rolling without twisting or slipping

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Cited in

(10)

• Symmetries of the rolling model
• Rolling manifolds of different dimensions
• Rolling against a sphere: the non-transitive case
• Roll Models
• A Monge normal form for the rolling distribution
• Cartan ribbonization and a topological inspection
• Horizontal holonomy and foliated manifolds
• Twistor space for rolling bodies
• Controllability results for the rolling of 2-dimensional against 3-dimensional Riemannian manifolds. I
• Submersions, Hamiltonian systems, and optimal solutions to the rolling manifolds problem

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