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Contentsxxi3.6.3.4 Stokes Theorem and de RhamCohomology . . . . . . . . . . . . . . . 1863.6.3.5 Euler–Poincaré Characteristics of M . . 1883.6.3.6 Duality of Chains and Forms on M . . 1883.6.3.7 Hodge Star Operator and HarmonicForms . . . . . . . . . . . . . . . . . . . 1903.7 Lie Derivatives on Smooth Manifolds . . . . . . . . . . . . 1923.7.1 Lie Derivative Operating on Functions . . . . . . 1923.7.2 Lie Derivative of Vector Fields . . . . . . . . . . . 1943.7.3 Time Derivative of the Evolution Operator . . . . 1973.7.4 Lie Derivative of <strong>Diff</strong>erential Forms . . . . . . . . 1973.7.5 Lie Derivative of Various Tensor Fields . . . . . . 1983.7.6 Application: Lie–Derivative Neurodynamics . . 2003.7.7 Lie Algebras . . . . . . . . . . . . . . . . . . . . . 2023.8 Lie Groups and Associated Lie Algebras . . . . . . . . . . 2023.8.1 Definition of a Lie Group . . . . . . . . . . . . . . 2033.8.2 Actions of Lie Groups on Smooth Manifolds . . . 2073.8.3 Basic Dynamical Lie Groups . . . . . . . . . . . . 2103.8.3.1 Galilei Group . . . . . . . . . . . . . . . 2103.8.3.2 General Linear Group . . . . . . . . . . 2113.8.4 Application: Lie Groups in Biodynamics . . . . 2123.8.4.1 Lie Groups of Joint Rotations . . . . . . 2123.8.4.2 Euclidean Groups of Total JointMotions . . . . . . . . . . . . . . . . . . 2163.8.4.3 Group Structure of BiodynamicalManifold . . . . . . . . . . . . . . . . . 2223.8.5 Application: Dynamical Games onSE(n)−Groups . . . . . . . . . . . . . . . . . . . 2273.8.5.1 Configuration Models for PlanarVehicles . . . . . . . . . . . . . . . . . . 2273.8.5.2 Two–Vehicles Conflict ResolutionManoeuvres . . . . . . . . . . . . . . . . 2283.8.5.3 Symplectic Reduction and DynamicalGames on SE(2) . . . . . . . . . . . . . 2303.8.5.4 Nash Solutions for Multi–VehicleManoeuvres . . . . . . . . . . . . . . . . 2333.8.6 Classical Lie Theory . . . . . . . . . . . . . . . . 2353.8.6.1 Basic Tables of Lie Groups and theirLie Algebras . . . . . . . . . . . . . . . 236

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