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The reduction of nonholonomic systems is formulated in terms of Dirac reduction. An optimal reduction method for a class of nonholonomic systems is formulated. Several examples are studied in detail. ...
We show that if a smooth multiplicative subbundle S subset of T G on a groupoid G P is involutive and satisfies completeness conditions, then its leaf space G/S inherits a groupoid structure over the space of leaves of TP boolean AND S in P. As an applicat ...
The purpose of this paper is to generalize the (Poisson) Optimal Reduction Theorem in Ortega and Ratiu [Momentum Maps and Hamiltonian Reduction. Progress in Mathematics 222. Boston, MA: Birkhauser. xxxiv, 497pp., 2004] to general proper Lie group actions o ...