We introduce the notion of a Lie algebroid structure on an affine bundle whose base manifold is fibred over the real numbers. It is argued that this is the framework which one needs for coming to a time-dependent generalization of the theory of Lagrangian systems on Lie algebroids. An extensive discussion is given of a way one can think of forms acting on sections of the affine bundle. It is further shown that the affine Lie algebroid structure gives rise to a coboundary operator on such forms. The concept of admissible curves and dynamical systems whose integral curves are admissible, brings an associated affine bundle into the picture, on which one can define in a natural way a prolongation of the original affine Lie algebroid structure.
We introduce the concept of a higher algebroid, generalizing the notions of an algebroid and a higher tangent bundle. Our ideas are based on a description of (Lie) algebroids as vector bundle comorphisms - differential relations of a special kind. In our approach higher algebroids are vector bundle comorphism between graded-linear bundles satisfying natural axioms. We provide natural examples and discuss applications in geometric mechanics.
As a continuation of previous papers, we study the concept of a Lie algebroid structure on an affine bundle by means of the canonical immersion of the affine bundle into its bidual. We pay particular attention to the prolongation and various lifting procedures, and to the geometrical construction of Lagrangian-type dynamics on an affine Lie algebroid.
A notion of an algebroid - a generalization of a Lie algebroid structure is introduced. We show that many objects of the differential calculus on a manifold M associated with the canonical Lie algebroid structure on T^M can be obtained in the framework of a general algebroid. Also a compatibility condition which leads, in general, to a concept of a bialgebroid.
Reductions of higher tangent bundles of Lie groupoids provide natural examples of geometric structures which we would like to call higher algebroids. Such objects can be also constructed abstractly starting from an arbitrary almost Lie algebroid. A higher algebroid is, in principle, a graded bundle equipped with a differential relation of special kind (a Zakrzewski morphism). In the paper we investigate basic properties of higher algebroids and show some applications. Namely, we develop a geometric framework for variational calculus on higher algebroids (including both forces and momenta). Suc…
We will prove that the generalized Lie algebroid is a distinguished example by Lie algebroid. The generality of it with respect to the Lie algebroid is similar with the generality of the pull-back vector bundle with respect to the vector bundle. Next, we will prove that the proof of Theorem 3.1 from [15] is a misconception and the mentioned Theorem has no validity. Finally, we anatomize an optimal control problem solvable in the generalized Lie algebroid framework whereas Lie algebroid instrumentation can not solve it.
Given a vector bundle $A$ over a smooth manifold $M$ such that the square root $\mathcal{L}$ of the line bundle $\wedge^{\mathrm{top}}A^\ast \otimes \wedge^{\mathrm{top}}T^\ast M$ exists, the Clifford bundle associated to the split pseudo-Euclidean vector bundle $(E = A \oplus A^\ast, \langle \cdot, \cdot \rangle)$, admits a spinor bundle $\wedge^\bullet A \otimes \mathcal{L}$, whose section space can be thought of as that of Berezinian half-densities of the graded manifold $A^\ast[1]$. We give an explicit construction of Dirac generating operators of split Courant algebroid (or proto-bialgebr…
Graded bundles are a class of graded manifolds which represent a natural generalisation of vector bundles and include the higher order tangent bundles as canonical examples. We present and study the concept of the linearisation of graded bundle which allows us to define the notion of the linear dual of a graded bundle. They are examples of double structures, graded-linear ($\mathcal{GL}$) bundles, including double vector bundles as a particular case. On $\mathcal{GL}$-bundles we define what we shall call weighted algebroids, which are to be understood as algebroids in the category of graded bu…
We present a unified approach to constrained implicit Lagrangian and Hamiltonian systems based on the introduced concept of Dirac algebroid. The latter is a certain almost Dirac structure associated with the Courant algebroid on the dual $E^\ast$ to a vector bundle $E$. If this almost Dirac structure is integrable (Dirac), we speak about a Dirac-Lie algebroid. The bundle $E$ plays the role of the bundle of kinematic configurations (quasi-velocities), while the bundle $E^\ast$ - the role of the phase space. This setting is totally intrinsic and does not distinguish between regular and singular …
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.
In this paper, we show that the spaces of sections of the $n$-th differential operator bundle $\dev^n E$ and the $n$-th skew-symmetric jet bundle $\jet_n E$ of a vector bundle $E$ are isomorphic to the spaces of linear $n$-vector fields and linear $n$-forms on $E^*$ respectively. Consequently, the $n$-omni-Lie algebroid $\dev E\oplus\jet_n E$ introduced by Bi-Vitagliago-Zhang can be explained as certain linearization, which we call pseudo-linearization of the higher analogue of Courant algebroids $TE^*\oplus \wedge^nT^*E^*$. On the other hand, we show that the omni $n$-Lie algebroid $\dev E\op…
A class of metrizable vector bundles in the general framework of generalized Lie algebroids have been presented in the eight reference. Using a generalized Lie algebroid we obtain the Lie algebroid generalized tangent bundle of a vector bundle. This Lie algebroid is a new example of metrizable vector bundle. A new class of Lagrange spaces, called by use, generalized Lagrange (ρ?;η?)-space, Lagrange (ρ?;η?)-space and Finsler (ρ?;η?)-space are presented. In the particular case of Lie algebroids, new and important results are presented. In particular, if all morphisms are identities morphisms, th…
Let $p$ be a Lie subalgebra of a semisimple Lie algebra $g$ and $(G,P)$ be the corresponding pair of connected Lie groups. A Cartan geometry of type $(G,P)$ associates to a smooth manifold $M$ a principal $P$-bundle and a Cartan connection, and a parabolic geometry is a Cartan geometry where $P$ is parabolic. We show that if $P$ is parabolic, the adjoint tractor bundle of a Cartan geometry, which is isomorphic to the Atiyah algebroid of the principal $P$-bundle, admits the structure of a (pre-)Courant algebroid, and we identify the topological obstruction to the bracket being a Courant bracket…
By studying the Frölicher-Nijenhuis decomposition of cohomology operators (that is, derivations $D$ of the exterior algebra $Ω(M)$ with $\mathbb{Z}-$degree $1$ and $D^2=0$), we describe new examples of Lie algebroid structures on the tangent bundle $TM$ (and its complexification $T^{\mathbb{C}}M$) constructed from pre-existing geometric ones such as foliations, complex, product or tangent structures. We also describe a class of Lie algebroids on tangent bundles associated to idempotent endomorphisms with nontrivial Nijenhuis torsion.
We briefly review our results on the Lie theory underlying vector bundles over Lie groupoids and Lie algebroids, pointing out the role of Poisson geometry in extending these results to double Lie algebroids and LA-groupoids.
In this paper we show how connections and their generalizations on transitive Lie algebroids are related to the notion of connections in the framework of the derivation-based noncommutative geometry. In order to compare the two constructions, we emphasize the algebraic approach of connections on Lie algebroids, using a suitable differential calculus. Two examples allow this comparison: on the one hand, the Atiyah Lie algebroid of a principal fiber bundle and, on the other hand, the space of derivations of the algebra of endomorphisms of a $SL(n, \mathbb{C})$-vector bundle. Gauge transformation…
This paper shows the equivalence of the categories of $N$-manifolds of degree $2$ with the category of double vector bundles endowed with a linear metric. Split Poisson $N$-manifolds of degree $2$ are shown to be equivalent to self-dual representations up to homotopy. As a consequence, the equivalence above induces an equivalence between so called metric VB-algebroids and Poisson $N$-manifolds of degree $2$. Then a new description of split Lie $2$-algebroids is given, as well as their "duals", the Dorfman $2$-representations. We show that Dorfman $2$-representations are equivalent in a simple …
In this paper, algebroid bundle associated to affine metrics provide an structure for unification of gravity and electromagnetism and, geometrization of matter.
A VB-algebroid is essentially defined as a Lie algebroid object in the category of vector bundles. There is a one-to-one correspondence between VB-algebroids and certain flat Lie algebroid superconnections, up to a natural notion of equivalence. In this setting, we are able to construct characteristic classes, which in special cases reproduce characteristic classes constructed by Crainic and Fernandes. We give a complete classification of regular VB-algebroids, and in the process we obtain another characteristic class of Lie algebroids that does not appear in the ordinary representation theory…
Just like Atiyah Lie algebroids encode the infinitesimal symmetries of principal bundles, exact Courant algebroids are believed to encode the infinitesimal symmetries of $S^1$-gerbes. At the same time, transitive Courant algebroids may be viewed as the higher analogue of Atiyah Lie algebroids, and the non-commutative analogue of exact Courant algebroids. In this article, we explore what the "principal bundle" behind transitive Courant algebroids are, and they turn out to be principal 2-bundles of string groups. First, we construct the stack of principal 2-bundles of string groups with connecti…
In this paper, first we introduce the notion of a $\VB$-Lie $2$-algebroid, which can be viewed as the categorification of a $\VB$-Lie algebroid. The tangent prolongation of a Lie $2$-algebroid is a $\VB$-Lie $2$-algebroid naturally. We show that after choosing a splitting, there is a one-to-one correspondence between $\VB$-Lie $2$-algebroids and flat superconnections of a Lie 2-algebroid on a 3-term complex of vector bundles. Then we introduce the notion of a $\VB$-$\LWX$ 2-algebroid, which can be viewed as the categorification of a $\VB$-Courant algebroid. We show that there is a one-to-one c…
We demonstrate that the notions of derivative representation of a Lie algebra on a vector bundle, of semi-linear representations of a Lie group on a vector bundle, and related concepts, may be understood in terms of representations of Lie algebroids and Lie groupoids, and we indicate how these notions extend to derivative representations of Lie algebroids and semi-linear representations of Lie groupoids in general.
A pre-Lie algebroid is an anchored bundle provided with an almost Lie bracket such that the anchor is compatible with the Lie bracket of vector fields. We firstly show how most geometrical structures intensively studied in the framework of Lie algebroid can easily be extended in the pre-Lie algebroid context. The principal purpose of this paper is to show that how all these results only depend of the foliated structure and do not depend of the pre-Lie algebroid structure that we can put on a foliated anchored bundle. As application, we obtain a Finsler connection on a foliated anchored bundle …
The aim of this paper is to present the stochastic Poisson equations associated to Lie algebroids. The stochastic Poisson equations associated to a refinement of a concrete principal bundle are determined.
We study VB-groupoids and VB-algebroids, which are vector bundles in the realm of Lie groupoids and Lie algebroids. Through a suitable reformulation of their definitions, we elucidate the Lie theory relating these objects, i.e., their relation via differentiation and integration. We also show how to extend our techniques to describe the more general Lie theory underlying double Lie algebroids and LA-groupoids.
We introduce logarithmic Picard algebroids, a natural class of Lie algebroids adapted to a simple normal crossings divisor on a smooth projective variety. We show that such algebroids are classified by a subspace of the de Rham cohomology of the divisor complement determined by its mixed Hodge structure. We then solve the prequantization problem, showing that under the appropriate integrality condition, a log Picard algebroid is the Lie algebroid of symmetries of what is called a meromorphic line bundle, a generalization of the usual notion of line bundle in which the fibres degenerate along t…
Inspired by recent works of Zang Liu, Alan Weinstein and Ping Xu, we introduce the notions of CC algebroids and non asymmetric Courant algebroids and study these structures. It is shown that CC algebroids of rank greater than 3 are the same as Courant algebroids up to a constant factor, though the definition of CC algebroids is much simpler than that of Courant algebroids,requiring only 2 axioms instead of 5. The situation is similar to that of Lie algebroids, where in the usual definition used by all of he experts there is a redundant axiom, e.g.[GG,KO1,KO2,MK,PL]. Non asymmetric Courant alge…
We introduce conformal Courant algebroids, a mild generalization of Courant algebroids in which only a conformal structure rather than a bilinear form is assumed. We introduce exact conformal Courant algebroids and show they are classified by pairs $(L,H)$ with $L$ a flat line bundle and $H \in H^3(M,L)$ a degree 3 class with coefficients in $L$. As a special case gerbes for the crossed module $({\rm U}(1) \to \mathbb{Z}_2)$ can be used to twist $TM \oplus T^*M$ into a conformal Courant algebroid. In the exact case there is a twisted cohomology which is 4-periodic if $L^2 = 1$. The structure o…
We construct the family of algebroid brackets $[\cdot,\cdot]_{c,v}$ on the tangent bundle $T^*M$ to a Poisson manifold $(M,π)$ starting from an algebroid bracket of differential forms. We use these brackets to generate Poisson structures on the tangent bundle $TM$. Next, in the case when $M$ is equipped with a bi-Hamiltonian structure $(M,π_1, π_2)$ we show how to construct another family of Poisson structures. Moreover we present how to find Casimir functions for those structures and we discuss some particular examples.
In this paper, we study the algebraic properties of the higher analogues of Courant algebroid structures on the direct sum bundle $TM\oplus\wedge^nT^*M$ for an $m$-dimensional manifold. As an application, we revisit Nambu-Poisson structures and multisymplectic structures. We prove that the graph of an $(n+1)$-vector field $π$ is closed under the higher-order Dorfman bracket iff $π$ is a Nambu-Poisson structure. Consequently, there is an induced Leibniz algebroid structure on $\wedge^nT^*M$. The graph of an $(n+1)$-form $ω$ is closed under the higher-order Dorfman bracket iff $ω$ is a premultis…
In this paper we study the local description of spaces of forms on transitive Lie algebroids. We use this local description to introduce global structures like metrics, $\ast$-Hodge operation and integration along the algebraic part of the transitive Lie algebroid (its kernel). We construct a Čech-de Rham bicomplex with a Leray-Serre spectral sequence. We apply the general theory to Atiyah Lie algebroids and to derivations on a vector bundle.
In this paper, we introduce a notion of a left-symmetric algebroid, which is a generalization of a left-symmetric algebra from a vector space to a vector bundle. The left multiplication gives rise to a representation of the corresponding sub-adjacent Lie algebroid. We construct left-symmetric algebroids from $\mathcal O$-operators on Lie algebroids. We study phase spaces of Lie algebroids in terms of left-symmetric algebroids. Representations of left-symmetric algebroids are studied in detail. At last, we study deformations of left-symmetric algebroids, which could be controlled by the second …
The jet formalism for Classical Field theories is extended to the setting of Lie algebroids. We define the analog of the concept of jet of a section of a bundle and we study some of the geometric structures of the jet manifold. When a Lagrangian function is given, we find the equations of motion in terms of a Cartan form canonically associated to the Lagrangian. The Hamiltonian formalism is also extended to this setting and we find the relation between the solutions of both formalism. When the first Lie algebroid is a tangent bundle we give a variational description of the equations of motion.…
For any Lie algebroid A, its 1-jet bundle JA is a Lie algebroid naturally and there is a representation π: JA ->DA. Denote by dJ the corresponding coboundary operator. In this paper, we realize the deformation cohomology of a Lie algebroid A introduced by M. Crainic and I. Moerdijk as the cohomology of a subcomplex (Γ(Hom(^\bulletJA,A)DA), dJ) of the cochain complex (Γ(Hom(^\bulletJA,A)), dJ).
First, we extend the notion of second order differential equations (SODE) on a smooth manifold to anchored Banach vector bundles. Then we define the Banach Lie algebroids as Lie algebroids structures modeled on anchored Banach vector bundles and prove that they form a category.
A Lie algebroid over a manifold is a vector bundle over that manifold whose properties are very similar to those of a tangent bundle. Its dual bundle has properties very similar to those of a cotangent bundle: in the graded algebra of sections of its external powers, one can define an operator similar to the exterior derivative. We present in this paper the theory of Lie derivatives, Schouten-Nijenhuis brackets and exterior derivatives in the general setting of a Lie algebroid, its dual bundle and their exterior powers. All the results (which, for their most part, are already known) are given …
The category of generalized Lie algebroids is presented. We obtain an exterior differential calculus for generalized Lie algebroids. In particular, we obtain similar results with the classical and modern results for Lie algebroids. So, a new result of Maurer-Cartan type is presented. Supposing that any vector subbundle of the pullback vector bundle of a generalized Lie algebroid is called interior differential system (IDS) for that generalized Lie algebroid, a theorem of Cartan type is obtained. Extending the classical notion of exterior differential system (EDS) to generalized Lie algebroids,…
We define and make initial study of Lie groupoids equipped with a compatible homogeneity (or graded bundle) structure, such objects we will refer to as weighted Lie groupoids. One can think of weighted Lie groupoids as graded manifolds in the category of Lie groupoids. This is a very rich geometrical theory with numerous natural examples. Note that $\mathcal{VB}$-groupoids, extensively studied in the recent literature, form just the particular case of weighted Lie groupoids of degree one. We examine the Lie theory related to weighted groupoids and weighted Lie algebroids, objects defined in a …
We define Lie and Courant algebroids on Fréchet manifolds. Moreover, we construct a Dirac structure on the generalized tangent bundle of a Fréchet manifold and show that it inherits a Fréchet Lie algebroid structure. We show that the Lie algebroid cohomology of the $\bb$-cotangent bundle Lie algebroid of a weakly symplectic Fréchet manifold $M$ is the Lichnerowicz-Poisson cohomology of $M$.
We develop a systematic approach to contact and Jacobi structures on graded supermanifolds. In this framework, contact structures are interpreted as symplectic principal GL(1,R)-bundles. Gradings compatible with the GL(1,R)-action lead to the concept of a graded contact manifold, in particular a linear (more generally, n-linear) contact structure. Linear contact structures are proven to be exactly the canonical contact structures on first jets of line bundles. They provide linear Kirillov (or Jacobi) brackets and give rise to the concept of a Kirillov algebroid, an analog of a Lie algebroid, f…
Consider an anchored bundle $(E,ρ)$, i.e. a vector bundle $E\to M$ equipped with a bundle map $ρ\colon E \to TM$ covering the identity. M.~Kapranov showed in the context of Lie-Rinehard algebras that there exists an extension of this anchored bundle to an infinite rank universal free Lie algebroid $FR(E)\supset E$. We adapt his construction to the case of an anchored bundle equipped with an arbitrary connection, $(E,\nabla)$, and show that it gives rise to a unique connection $\tilde \nabla$ on $FR(E)$ which is compatible with its Lie algebroid structure, thus turning $(FR(E), \tilde \nabla)$ …
Supplementary comments about generalized Lie algebroids are presented and a new point of view over the construction of the Lie algebroid generalized tangent bundle of a (dual) vector bundle is introduced. Using the general theory of exterior differential calculus for generalized Lie algebroids, a covariant derivative for exterior forms of a (dual) vector bundle is introduced. Using this covariant derivative, the complete lift of an arbitrary section of a (dual) vector bundle is discovered. A theory of Legendre type and Legendre duality between vertical and complete lifts is presented. Finally,…
This thesis deals with deformations of VB-algebroids and VB-groupoids. They can be considered as vector bundles in the categories of Lie algebroids and groupoids and encompass several classical objects, including Lie algebra and Lie group representations, 2-vector spaces and the tangent and the cotangent algebroid (groupoid) to a Lie algebroid (groupoid). Moreover, they are geometric models for some kind of representations of Lie algebroids (groupoids), namely 2-term representations up to homotopy. Finally, it is well known that Lie groupoids are "concrete" incarnations of differentiable stack…
Jacobi algebroids, that is graded Lie brackets on the Grassmann algebra associated with a vector bundle which satisfy a property similar to that of the Jacobi brackets, are introduced. They turn out to be equivalent to generalized Lie algebroids in the sense of Iglesias and Marrero and can be viewed also as odd Jacobi brackets on the supermanifolds associated with the vector bundles. Jacobi bialgebroids are defined in the same manner. A lifting procedure of elements of this Grassmann algebra to multivector fields on the total space of the vector bundle which preserves the corresponding bracket…
A generalized notion of a Lie algebroid is presented. Using this, the Lie algebroid generalized tangent bundle is obtained. A new point of view over (linear) connections theory on a fiber bundle is presented. These connections are characterized by o horizontal distribution of the Lie algebroid generalized tangent bundle. Some basic properties of these generalized connections are investigated. Special attention to the class of linear connections is paid. The recently studied Lie algebroids connections can be recovered as special cases within this more general framework. In particular, all resul…
We begin with a short presentation of the basic concepts related to Lie groupoids and Lie algebroids, but the main part of this paper deals with Lie algebroids. A Lie algebroid over a manifold is a vector bundle over that manifold whose properties are very similar to those of a tangent bundle. Its dual bundle has properties very similar to those of a cotangent bundle: in the graded algebra of sections of its external powers, one can define an operator similar to the exterior derivative. We present the theory of Lie derivatives, Schouten-Nijenhuis brackets and exterior derivatives in the genera…
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard tangent bundles...). In particular, we are interested in two cases: singular Lagrangian systems and vakonomic mechanics (variational constrained mechanics). Several examples illustrate the interest of these developments.
Complex Finsler vector bundles have been studied mainly by T. Aikou, who defined complex Finsler structures on holomorphic vector bundles. In this paper, we consider the more general case of a holomorphic Lie algebroid E and we introduce Finsler structures, partial and Chern-Finsler connections on it. First, we recall some basic notions on holomorphic Lie algebroids. Then, using an idea from E. Martinez, we introduce the concept of complexified prolongation of such an algebroid. Also, we study nonlinear and linear connections on the tangent bundle of E and on the prolongation of E and we inves…
Vector bundles and double vector bundles, or $2$-fold vector bundles, arise naturally for instance as base spaces for algebraic structures such as Lie algebroids, Courant algebroids and double Lie algebroids. It is known that all these structures possess a unified description using the language of super\-geometry and graded manifolds of degree $\leq 2$. Indeed, a link has been established between the super and classical pictures by the geometrization process, leading to an equivalence of the category of graded manifolds of degree $\leq 2$ and the category of (double) vector bundles with additi…
In this paper, we introduce the notion of $E$-Courant algebroids, where $E$ is a vector bundle. It is a kind of generalized Courant algebroid and contains Courant algebroids, Courant-Jacobi algebroids and omni-Lie algebroids as its special cases. We explore novel phenomena exhibited by $E$-Courant algebroids and provide many examples. We study the automorphism groups of omni-Lie algebroids and classify the isomorphism classes of exact $E$-Courant algebroids. In addition, we introduce the concepts of $E$-Lie bialgebroids and Manin triples.
The language of Lagrangian submanifolds is used to extend a geometric characterization of the inverse problem of the calculus of variations on tangent bundles to regular Lie algebroids. Since not all closed sections are locally exact on Lie algebroids, the Helmholtz conditions on Lie algebroids are necessary but not sufficient, so they give a weaker definition of the inverse problem. As an application the Helmholtz conditions on Atiyah algebroids are obtained so that the relationship between the inverse problem and the reduced inverse problem by symmetries can be described. Some examples and c…
Almost Lie algebroids are generalizations of Lie algebroids, when the Jacobiator is not necessary null. A simple example is given, for which a Lie algebroid bracket or a Courant bundle is not possible for the given anchor, but a natural extension of the bundle and the new anchor allows a Lie algebroid bracket. A cohomology and related characteristic classes of an almost Lie algebroid are also constructed. We prove that these characteristic classes are all pull-backs of the characteristic classes of the base space, as in the case of a Lie algebroid.
