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We introduce a refined version of group cohomology and relate it to the space of polynomials on the group in question. We show that the polynomial cohomology with trivial coefficients admits a description in terms of ordinary cohomology with polynomial coefficients, and that the degree one polynomial cohomology with trivial coefficients admits a description directly in terms of polynomials. Lastly, we give a complete description of the polynomials on a connected, simply connected nilpotent Lie group by showing that these are exactly the maps that pull back to classical polynomials via the exponential map., v3: minor changes; to appear in Glasgow Mathematical Journal. v2: significant changes compared to v1; the result on quasi-isometry classification of csc nilpotent Lie groups removed due to a flaw in the proof

We give an algebraic description of the structure of the analytic universal cover of a complex abelian variety which suffices to determine the structure up to isomorphism. More generally, we classify the models of theories of ‘universal covers’ of rigid divisible commutative finite Morley rank groups.

In this paper we define a p-adic analogue of the Borel regulator for the K-theory of p-adic fields. The van Est isomorphism in the construction of the classical Borel regulator is replaced by the Lazard isomorphism. The main result relates this p-adic regulator to the Bloch–Kato exponential and the Soulé regulator. On the way we give a new description of the Lazard isomorphism for certain formal groups. We also show that the Soulé regulator is induced by continuous and even analytic classes.

SUMMARYA nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker–Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subsequent motions from the current state are to be made so as to move the system to a desired state with high probability, then modeling how the probability density of the system evolves is critical. Methods for solving Fokker-Planck equations that evolve on Lie groups then become important. Such equations can be solved using the operational properties of group Fourier transforms in which irreducible unitary representation (IUR) matrices play a critical role. Therefore, we develop a simple approach for the numerical approximation of all the IUR matrices for two of the groups of most interest in robotics: the rotation group in three-dimensional space,SO(3), and the Euclidean motion group of the plane,SE(2). This approach uses the exponential mapping from the Lie algebras of these groups, and takes advantage of the sparse nature of the Lie algebra representation matrices. Other techniques for density estimation on groups are also explored. The computed densities are applied in the context of probabilistic path planning for kinematic cart in the plane and flexible needle steering in three-dimensional space. In these examples the injection of artificial noise into the computational models (rather than noise in the actual physical systems) serves as a tool to search the configuration spaces and plan paths. Finally, we illustrate how density estimation problems arise in the characterization of physical noise in orientational sensors such as gyroscopes.