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math.MG2026
Riemannian Metric Preconditioning for Trajectory Tracking
Jacob R. Goodman, Hajg Jasa
We introduce a rank-one Riemannian cometric update inducing a modification of the Riemannian metric that makes specific directions of motion cheaper to travel along. We establish b…
math.MG2026
A Generalized Sasaki Metric on the Second-Order Tangent Bundle
Margarida Camarinha, Jacob R. Goodman
This paper constructs a connection map on the second-order tangent bundle induced by a linear connection on the base manifold and uses it to define a generalized Sasaki metric. The…