Nonisotropic 3-level Quantum Systems: Complete Solutions for Minimum Time and Minimum Energy

We apply techniques of subriemannian geometry on Lie groups and of optimal synthesis on 2-D manifolds to the population transfer problem in a three-level quantum system driven by two laser pulses, of arbitrary shape and frequency. In the rotating wave approximation, we consider a nonisotropic model i.e. a model in which the two coupling constants of the lasers are different. The aim is to induce transitions from the first to the third level, minimizing 1) the time of the transition (with bounded laser amplitudes), 2) the energy of lasers (with fixed final time). After reducing the problem to real variables, for the purpose 1) we develop a theory of time optimal syntheses for distributional problem on 2-D-manifolds, while for the purpose 2) we use techniques of subriemannian geometry on 3-D Lie groups. The complete optimal syntheses are computed.Comment: 29 pages, 6 figure

On Time-optimal Trajectories for a Car-like Robot with One Trailer

In addition to the theoretical value of challenging optimal control problmes, recent progress in autonomous vehicles mandates further research in optimal motion planning for wheeled vehicles. Since current numerical optimal control techniques suffer from either the curse of dimens ionality, e.g. the Hamilton-Jacobi-Bellman equation, or the curse of complexity, e.g. pseudospectral optimal control and max-plus methods, analytical characterization of geodesics for wheeled vehicles becomes important not only from a theoretical point of view but also from a prac tical one. Such an analytical characterization provides a fast motion planning algorithm that can be used in robust feedback loops. In this work, we use the Pontryagin Maximum Principle to characterize extremal trajectories, i.e. candidate geodesics, for a car-like robot with one trailer. We use time as the distance function. In spite of partial progress, this problem has remained open in the past two decades. Besides straight motion and turn with maximum allowed curvature, we identify planar elastica as the third piece of motion that occurs along our extr emals. We give a detailed characterization of such curves, a special case of which, called \emph{merging curve}, connects maximum curvature turns to straight line segments. The structure of extremals in our case is revealed through analytical integration of the system and adjoint equations

Extremal polynomials in stratified groups

We introduce a family of extremal polynomials associated with the prolongation of a stratified nilpotent Lie algebra. These polynomials tre related to a new algebraic characterization of abnormal sub-Riemannian extremals in stratified nilpotent Lie groups. They satisfy a set of remarkable structure relations that are used to integrate the adjoint equations, in both normal and abnormal case

Time-Minimal Control of Dissipative Two-level Quantum Systems: the Generic Case

The objective of this article is to complete preliminary results concerning the time-minimal control of dissipative two-level quantum systems whose dynamics is governed by Lindblad equations. The extremal system is described by a 3D-Hamiltonian depending upon three parameters. We combine geometric techniques with numerical simulations to deduce the optimal solutions.Comment: 24 pages, 16 figures. submitted to IEEE transactions on automatic contro

Extremal curves in nilpotent Lie groups

We classify extremal curves in free nilpotent Lie groups. The classification is obtained via an explicit integration of the adjoint equation in Pontryagin Maximum Principle. It turns out that abnormal extremals are precisely the horizontal curves contained in algebraic varieties of a specific type. We also extend the results to the nonfree case.Comment: 30 pages, final versio

Sard Property for the endpoint map on some Carnot groups

In Carnot-Caratheodory or sub-Riemannian geometry, one of the major open problems is whether the conclusions of Sard's theorem holds for the endpoint map, a canonical map from an infinite-dimensional path space to the underlying finite-dimensional manifold. The set of critical values for the endpoint map is also known as abnormal set, being the set of endpoints of abnormal extremals leaving the base point. We prove that a strong version of Sard's property holds for all step-2 Carnot groups and several other classes of Lie groups endowed with left-invariant distributions. Namely, we prove that the abnormal set lies in a proper analytic subvariety. In doing so we examine several characterizations of the abnormal set in the case of Lie groups.Comment: 39 page

Rolling balls and Octonions

In this semi-expository paper we disclose hidden symmetries of a classical nonholonomic kinematic model and try to explain geometric meaning of basic invariants of vector distributions

A note on Carnot geodesics in nilpotent Lie groups

We show that strictly abnormal geodesics arise in graded nilpotent Lie groups. We construct such a group, for which some Carnot geodesics are strictly abnormal; in fact, they are not normal in any subgroup. In the step-2 case we also prove that these geodesics are always smooth. Our main technique is based on the equations for the normal and abnormal curves, that we derive (for any Lie group) explicitly in terms of the structure constants