We study stochastically perturbed non-holonomic systems from a geometric point of view. In this setting, it turns out that the probabilistic properties of the perturbed system are intimately linked to the geometry of the constraint distribution. For G-Chap ...
Let Q be a Riemannian G-manifold. This paper is concerned with the symmetry reduction of Brownian motion in Q and ramifications thereof in a Hamiltonian context. Specializing to the case of polar actions, we discuss various versions of the stochastic Hamil ...
We relate a Chaplygin type system to a Cartan decomposition of a real semi-simple Lie group. The resulting system is described in terms of the structure theory associated to the Cartan decomposition. It is shown to possess a preserved measure and when inte ...
Via compression ([18,8]) we write the n-dimensional Chaplygin sphere system as an almost Hamiltonian system on T*SO (n) with internal symmetry group SO (n-1). We show how this symmetry group can be factored out, and pass to the fully reduced system on (a f ...