Symmetries of the rolling model

DOI10.1007/S00209-015-1508-6zbMATH Open1334.53024arXiv1301.2579OpenAlexW2168775751MaRDI QIDQ897498FDOQ897498

Authors: Yacine Chitour, Petri Kokkonen, Mauricio Godoy Molina 

Publication date: 7 December 2015

Published in: Mathematische Zeitschrift (Search for Journal in Brave)

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.

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

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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)

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Cited In (10)

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