Welcome to this course in Lie Theory!
During the spring of 2024 I will try to cover the very basics of Lie theory and hopefully we can get to a level where we see the usecases for Lie theory in robotics. As a small disclaimer I have some personal motivation from this as well:
- I want to learn Lie theory myself. I am not well versed in this topic at all, and I see this as a perfect opportunity to learn.
- I want to see if we can have some local research collaboration that I can contribute to here at HVL in Førde.
Course plan
The plan is to meet on Fridays from 10:15-12:00 in Fanaråken (room and time might change), with a digital option available (I will explore the use of the smart board).
| Friday February 2: | Basic concepts of abstract algebra |
| Friday February 9: | Lie Matrix groups and Lie groups |
| Friday February 16: | Exercise session on identifying some important Lie groups |
| Friday February 23: | Basics of the exponential map |
| Friday March 1: | The exponential map and the Lie algebra |
| Friday March 8: | More on the Lie algebra, unit quaternions as an example |
| Friday March 15: | Different Lie groups with the same associated Lie algebra |
Course material
I will probably make my own notes for the lectures, but more importantly, I will follow the compendium of Brian Hall, that you can find here.