arXiv research

Proves properties of sub-Riemannian exponential map, showing it's not injective.

New exponential map for Lie groups connects to sub-Riemannian geometry.

The exponential map fails to be injective near critical points in sub-Riemannian geometry.

Study on stability of harmonic maps with sub-Riemannian geometry.

The paper uses singularity theory to find normal forms for sub-Riemannian exponential maps.

We prove the result stated in the title; it is equivalent to the existence of a regular point of the sub-Riemannian exponential mapping. We also prove that the metric is analytic on an open everywhere dense subset in the case of a complete real-analytic sub-Riemannian manifold.

The left-invariant sub-Riemannian problem on the Engel group is considered. The problem gives the nilpotent approximation to generic nonholonomic systems in four-dimensional space with two-dimensional control, for instance to a system which describes motion of mobile robot with a trailer. The global optimality of extre…

We study the sub-Riemannian exponential for contact distributions on manifolds of dimension greater or equal to 5. We compute an approximation of the sub-Riemannian Hamiltonian flow and show that the conjugate time can have multiplicity 2 in this case. We obtain an approximation of the first conjugate locus for small r…

Locally, isoperimetric problems on Riemannian surfaces are sub-Riemannian problems in dimension 3. The particular case of Dido problems corresponds to a class of singular contact sub-Riemannian metrics : metrics which have the charateristic vertor field as symmetry. We give a classification of the generic conjugate loc…

In this paper we provide the small-time heat kernel asymptotics at the cut locus in three relevant cases: generic low-dimensional Riemannian manifolds, generic 3D contact sub-Riemannian manifolds (close to the starting point) and generic 4D quasi-contact sub-Riemannian manifolds (close to a generic starting point). As …

In this paper we study geodesics of left-invariant sub-Riemannian metrics on SO(3) and almost-Riemannian metrics on $S^2$. These structures are connected with each other, and it is possible to use information about one of them to obtain results about another one. We give an explicit parameterization of sub-Riemannian g…

Harmonic maps studied in sub-Riemannian geometry for Lie groups.

Maps on Sasakian manifolds limit to sub-Riemannian distance bounds.

In this paper we study the main geometric properties of the Carnot-Carathéodory (abbreviated CC) distance $\dc$ in the setting of $k$-step sub-Riemannian Carnot groups from many different points of view. An extensive study of the so-called normal CC-geodesics is given. We state and prove some related variational formul…

In this paper, we consider critical maps of a horizontal energy functional for maps from a sub-Riemannian manifold to a Riemannian manifold. These critical maps are referred to as subelliptic harmonic maps. In terms of the subelliptic harmonic map heat flow, we investigate the existence problem for subelliptic harmonic…

Maps commuting with sub-Laplacians on Carnot groups are conformal.

The paper develops a non-transitive Cartan connection for sub-Riemannian manifolds.

The paper investigates subelliptic harmonic maps with potential using heat flow.

We study mappings on sub-Riemannian manifolds which are quasi-regular with respect to the Carnot-Caratheodory distances and discuss several related notions. On H-type Carnot groups, quasiregular mappings have been introduced earlier using an analytic definition, but so far, a good working definition in the same spirit …

Sub-Riemannian structures on odd-dimensional spheres respecting the Hopf fibration naturally appear in quantum mechanics. We study the curvature maps for such a sub-Riemannian structure and express them using the Riemannian curvature tensor of the Fubini-Study metric of the complex projective space and the curvature fo…

Gradient estimates for subelliptic harmonic maps with potential.

In the present article the geometry of semi-Riemannian manifolds with nonholonomic constraints is studied. These manifolds can be considered as analogues to the sub-Riemannian manifolds, where the positively definite metric is substituted by a nondegenerate metric. To study properties of the exponential map the Christo…

This paper is concerned with the study of the Monge optimal transport problem in sub-Riemannian manifolds where the cost is given by the square of the sub-Riemannian distance. Our aim is to extend previous results on existence and uniqueness of optimal transport maps to cases of sub-Riemannian structures which admit ma…

We study the dynamical behaviors of degenerate stochastic differential equations (SDEs). We select an auxiliary Fisher information functional as the Lyapunov functional. Using generalized Fisher information, we conduct the Lyapunov exponential convergence analysis of degenerate SDEs. We derive the convergence rate cond…

We prove the equivalence of several natural notions of conformal maps between sub-Riemannian manifolds. Our main contribution is in the setting of those manifolds that support a suitable regularity theory for subelliptic $p$-Laplacian operators. For such manifolds we prove a Liouville-type theorem, i.e., 1-quasiconform…

The Jacobi curve of an extremal of optimal control problem is a curve in a Lagrangian Grassmannian defined up to a symplectic transformation and containing all information about the solutions of the Jacobi equations along this extremal. In our previous works we constructed the canonical bundle of moving frames and the …

We study the variation of a smooth volume form along extremals of a variational problem with nonholonomic constraints and an action-like Lagrangian. We introduce a new invariant describing the interaction of the volume with the dynamics and we study its basic properties. We then show how this invariant, together with c…

This paper is devoted to a third order study of the end-point map in sub-Riemannian geometry. We first prove third order open mapping results for maps from a Banach space into a finite dimensional manifold. In a second step, we compute the third order term in the Taylor expansion of the end-point map and we specialize …

In this article we study the sub-Riemannian geometry of the spheres $S^{2n+1}$ and $S^{4n+3}$, arising from the principal $S^1-$bundle structure defined by the Hopf map and the principal $S^3-$bundle structure given by the quaternionic Hopf map respectively. The $S^1$ action leads to the classical contact geometry of $…

Following the Euclidean results of Varopoulos and Pankka--Rajala, we provide a necessary topological condition for a sub-Riemannian 3-manifold $M$ to admit a nonconstant quasiregular mapping from the sub-Riemannian Heisenberg group $\mathbb{H}$. As an application, we show that a link complement $S^3\backslash L$ has a …

We show that if $M$ is a sub-Riemannian manifold and $N$ is a Carnot group such that the nilpotentization of $M$ at almost every point is isomorphic to $N$, then there are subsets of $N$ of positive measure that embed into $M$ by bilipschitz maps. Furthermore, $M$ is countably $N$--rectifiable, i.e., all of $M$ except …

The paper proves Sard's theorem for polynomial maps in infinite dimensions.

We show that the tangent cone at the identity is not a complete quasiconformal invariant for sub-Riemannian nilpotent groups. Namely, we show that there exists a nilpotent Lie group equipped with left invariant sub-Riemannian metric that is not locally quasiconformally equivalent to its tangent cone at the identity. In…

We give the complete classification of left-invariant sub-Riemannian structures on three dimensional Lie groups in terms of the basic differential invariants. This classifications recovers other known classification results in the literature, in particular the one obtained in [Falbel-Gorodski, 1996] in terms of curvatu…

The first aim of the present paper is to compare various sub-Riemannian structures over the three dimensional sphere $S^3$ originating from different constructions. Namely, we describe the sub-Riemannian geometry of $S^3$ arising through its right Lie group action over itself, the one inherited from the natural complex…

In this article we study the validity of the Whitney $C^1$ extension property for horizontal curves in sub-Riemannian manifolds endowed with 1-jets that satisfy a first-order Taylor expansion compatibility condition. We first consider the equiregular case, where we show that the extension property holds true whenever a…

New friction model for geometric locomotion systems.

New optimality conditions for sub-Riemannian geodesics derived.

For a sub-Riemannian manifold provided with a smooth volume, we relate the small time asymptotics of the heat kernel at a point $y$ of the cut locus from $x$ with roughly "how much" $y$ is conjugate to $x$. This is done under the hypothesis that all minimizers connecting $x$ to $y$ are strongly normal, i.e.\ all pieces…

Given a manifold $M$ and a proper sub-bundle $Δ\subset TM$, we study homotopy properties of the horizontal base-point free loop space $Λ$, i.e. the space of absolutely continuous maps $γ:S^1\to M$ whose velocities are constrained to $Δ$ (for example: legendrian knots in a contact manifold). A key technical ingredient f…

Extended orbit model theory for shape analysis using graded group action framework.

We provide new conditions that ensure that two metric measure spaces are not quasiconformally equivalent. As an application we deduce that there exists no quasiconformal map between the sub-Riemannian Heisenberg and roto-translation groups.

In this paper, we obtain the following generalisation of isometric $C^1$-immersion theorem of Nash and Kuiper. Let $M$ be a smooth manifold of dimension $m$ and $H$ a rank $k$ subbundle of the tangent bundle $TM$ with a Riemannian metric $g_H$. Then the pair $(H,g_H)$ defines a sub-Riemannian structure on $M$. We call …

We investigate the notion of H-subdifferential and H-normal map of a function on the Heisenberg group, based on its sub-Riemannian structure. In particular, a characterization of the convexity of a function is given via the nonemptiness of the H-subdifferential at every point.

We use the notion of generalized connection over a bundle map in order to present an alternative approach to sub-Riemannian geometry. Known concepts, such as normal and abnormal extremals, will be studied in terms of this new formalism. In particular, some necessary and sufficient conditions for the existence of abnorm…

Improved semialgebraic choices with linear complexity.

The affine-additive group is hyperbolic with a non-vanishing 4-capacity.

We provide an axiomatic approach to the theory of local tangent cones of regular sub-Riemannian manifolds and the differentiability of mappings between such spaces. This axiomatic approach relies on a notion of a dilation structure which is introduced in the general framework of quasimetric spaces. Considering quasimet…