Bi-Jacobi fields and Riemannian cubics for left-invariant SO(3)

DOI10.4310/CMS.2016.V14.N1.A3zbMATH Open1330.70063WikidataQ115205105 ScholiaQ115205105MaRDI QIDQ900232FDOQ900232

Authors: Lyle Noakes, T. S. Ratiu 

Publication date: 21 December 2015

Published in: Communications in Mathematical Sciences (Search for Journal in Brave)

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zbMATH Keywords

Jacobi fieldRiemannian manifoldrigid bodymechanical systemLie groupnonlinear optimal controltrajectory planningRiemannian cubic

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Optimality conditions (49K99) Variational principles of physics (49S05) Robot dynamics and control of rigid bodies (70E60) Asymptotic expansions of solutions to ordinary differential equations (34E05) Classical differential geometry (53A99) Motion of a rigid body with a fixed point (70E17) Motion of a rigid body in contact with a solid surface (70E18)

Cited In (4)

• De Casteljau's algorithm in geometric data analysis: theory and application
• High-order splines on Riemannian manifolds
• Riemannian cubics close to geodesics at the boundaries
• Stochastic variational principles for dissipative equations with advected quantities

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