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Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite riemannian metric

Claudio Altafini — 2004

ESAIM: Control, Optimisation and Calculus of Variations

For a riemannian structure on a semidirect product of Lie groups, the variational problems can be reduced using the group symmetry. Choosing the Levi-Civita connection of a positive definite metric tensor, instead of any of the canonical connections for the Lie group, simplifies the reduction of the variations but complicates the expression for the Lie algebra valued covariant derivatives. The origin of the discrepancy is in the semidirect product structure, which implies that the riemannian exponential...

Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric

Claudio Altafini — 2010

ESAIM: Control, Optimisation and Calculus of Variations

For a Riemannian structure on a semidirect product of Lie groups, the variational problems can be reduced using the group symmetry. Choosing the Levi-Civita connection of a positive definite metric tensor, instead of any of the canonical connections for the Lie group, simplifies the reduction of the variations but complicates the expression for the Lie algebra valued covariant derivatives. The origin of the discrepancy is in the semidirect product structure, which implies that the Riemannian exponential...

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