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 complete system of symplectic invariants, called curvature maps, for parametrized curves in Lagrange Grassmannians satisfying very general assumptions. The structural equation for a canonical moving frame of the Jacobi curve of an extremal can be interpreted as the normal form for the Jacobi equation along this extremal and the curvature maps can be seen as the "coefficients" of this normal form. In the case of a Riemannian metric there is only one curvature map and it is naturally related to the Riemannian sectional curvature. In the present paper we study the curvature maps for a sub-Riemannian structure on a corank 1 distribution having an additional transversal infinitesimal symmetry. After the factorization by the integral foliation of this symmetry, such sub-Riemannian structure can be reduced to a Riemannian manifold equipped with a closed 2-form (a magnetic field). We obtain explicit expressions for the curvature maps of the original sub-Riemannian structure in terms of the curvature tensor of this Riemannian manifold and the magnetic field. We also estimate the number of conjugate points along the sub-Riemannian extremals in terms of the bounds for the curvature tensor of this Riemannian manifold and the magnetic field in the case of an uniform magnetic field. The language developed for the calculation of the curvature maps can be applied to more general sub-Riemannian structures with symmetries, including sub-Riemmannian structures appearing naturally in Yang-Mills fields.
In this paper, we consider generic corank 2 sub-Riemannian structures, and we show that the Spherical Hausdorf measure is always a C^1-smooth volume, which is in fact generically C^2- smooth out of a stratified subset of codimension 7. In particular, for rank 4, it is generically C^2 . This is the continuation of a previous work by the auhors.
The present paper is devoted to the problem of (local) geodesic equivalence of Riemannian metrics and sub-Riemannian metrics on generic corank 1 distributions. Using Pontryagin Maximum Principle, we treat Riemannian and sub-Riemannian cases in an unified way and obtain some algebraic necessary conditions for the geodesic equivalence of (sub-)Riemannian metrics. In this way first we obtain a new elementary proof of classical Levi-Civita's Theorem about the classification of all Riemannian geodesically equivalent metrics in a neighborhood of so-called regular (stable) point w.r.t. these metrics.…
We study nice nilpotent Lie algebras admitting a diagonal nilsoliton metric. We classify nice Riemannian nilsolitons up to dimension $9$. For general signature, we show that determining whether a nilpotent nice Lie algebra admits a nilsoliton metric reduces to a linear problem together with a system of as many polynomial equations as the corank of the root matrix. We classify nice nilsolitons of any signature: in dimension $\leq 7$; in dimension $8$ for corank $\leq 1$; in dimension $9$ for corank zero.
The paper is concerned with the properties of the distance function from a closed subset of a Riemannian manifold, with particular attention to the set of singularities.
This paper is a continuation of the previous work of the first author. We characterize a class of step-two groups introduced in \cite{Li19}, saying GM-groups, via some basic sub-Riemannian geometric properties, including the squared Carnot-Carathéodory distance, the cut locus, the classical cut locus, the optimal synthesis, etc. Also, the shortest abnormal set can be exhibited easily in such situation. Some examples of such groups are step-two groups of corank $2$, of Kolmogorov type, or those associated to quadratic CR manifolds. As a byproduct, the main goal in \cite{BBG12} is achieved from …
We exhibit several families of Jacobi-Videv pseudo-Riemannian manifolds which are not Einstein. We also exhibit Jacobi-Videv algebraic curvature tensors where the Ricci operator defines an almost complex structure.
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 form of the Hopf fibration. We also estimate the number of conjugate points of a sub-Riemannian extremal in terms of the bounds of the sectional curvature and the curvature form. It presents a typical example for the study of curvature maps and comparison theorms for a general cora…
In sub-Riemannian geometry the coefficients of the Jacobi equation define curvature-like invariants. We show that these coefficients can be interpreted as the curvature of a canonical Ehresmann connection associated to the metric, first introduced in [Zelenko-Li]. We show why this connection is naturally nonlinear, and we discuss some of its properties.
We study the geometry of pseudo-Riemannian manifolds which are Jacobi--Tsankov, i.e. J(x)J(y)=J(y)J(x) for all tangent vectors x and y. We also study manifolds which are 2-step Jacobi nilpotent, i.e. J(x)J(y)=0 for all tangent vectors x and y.
If $U:[0,+\infty[\times M$ is a uniformly continuous viscosity solution of the evolution Hamilton-Jacobi equation $$\partial_tU+ H(x,\partial_xU)=0,$$ where $M$ is a not necessarily compact manifold, and $H$ is a Tonelli Hamiltonian, we prove the set $Σ(U)$, of points where $U$ is not differentiable, is locally contractible. Moreover, we study the homotopy type of $Σ(U)$. We also give an application to the singularities of a distance function to a closed subset of a complete Riemannian manifold.
We give a notion of compatibility between a Riemannian structure and a Jacobi structure. We prove that in case of fundamental examples of Jacobi structures : Poisson structures, contact structures and locally conformally symplectic structures, we get respectively Riemann-Poisson structures in the sense of M. Boucetta, 1/2-Kenmotsu structures and locally conformally Kahler structures.
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 $S^{2n+1}$, while the $S^3$ action gives another type of sub-Riemannian structure, with a distribution of corank 3. In both cases the metric is given as the restriction of the usual Riemannian metric on the respective horizontal distributions. For the contact $S^7$ case, we give a…
We prove that a normal homogeneous space with the property that every Jacobi field along a geodesic vanishing at two points is the restriction of a Killing field along that geodesic is a globally symmetric space.
We establish some perturbed minimization principles, and we develop a theory of subdifferential calculus, for functions defined on Riemannian manifolds. Then we apply these results to show existence and uniqueness of viscosity solutions to Hamilton-Jacobi equations defined on Riemannian manifolds.
In a preceding paper we introduced a notion of compatibility between a Jacobi structure and a Riemannian structure on a smooth manifold. We proved that in the case of fundamental examples of Jacobi structures : Poisson structures, contact structures and locally conformally symplectic structures, we get respectively Riemann-Poisson structures in the sense of M. Boucetta, (1/2)-Kenmotsu structures and locally conformally Kähler structures. In this paper we are generalizing this work to the framework of Lie algebroids.
Sub-Riemannian structures and non-transitive Cartan geometries via Lie groupoids
Centre Inria d’Université Côte d’Azur（阿基坦大学蔚蓝海岸Inria中心）；Julius-Maximilians-Universität Würzburg（维尔茨堡朱利叶斯-马克西米利安大学）；CMUC, University of Coimbra（科英布拉大学数学研究中心）
We consider four-dimensional Riemannian manifolds with commuting higher order Jacobi operators defined on two-dimensional orthogonal subspaces (polygons) and on their orthogonal subspaces. More precisely, we discuss higher order Jacobi operator $\mathcal{J}(X)$ and its commuting associated operator $\mathcal{J}(X^{\perp})$ induced by the orthogonal complement $X^{\perp}$ of the vector $X$, i. e. $\mathcal{J}(X)\circ\mathcal{J}(X^{\perp})=\mathcal{J}(X^{\perp})\circ \mathcal{J}(X)$. At the end some new central theorems have been cited. The latter are due to P. Gilkey, E. Puffini and V. Videv, a…
A local classification of locally conformal flat Riemannian Einstein-like four-manifolds as well as a local classification of all locally conformal flat Riemannian four-manifolds for which all Jacobi operators have parallel eigenspaces along every geodesic is given. Non-trivial explicit examples are presented. The problem of local description of self-dual Einstein-like four-manifolds is also treated. A complete explicit solution of the Stäckel system in dimension four is obtained.
In this paper we prove the Poincaré lemma on some $n$-dimensional corank 1 sub-Riemannian structures, formulating the $\frac{(n-1)n(n^2+3n-2)}{8}$ necessarily and sufficiently 'curl-vanishing' compatibility conditions. In particular, this result solves partially an open problem formulated by Calin and Chang. Our proof is based on a Poincaré lemma stated on Riemannian manifolds and a suitable Cesàro-Volterra path integral formula established in local coordinates. As a byproduct, a Saint-Venant lemma is also provided on generic Riemannian manifolds. Some examples are presented on the hyperbolic …
For a regular sub-Riemannian manifold we study the Radon-Nikodym derivative of the spherical Hausdorff measure with respect to a smooth volume. We prove that this is the volume of the unit ball in the nilpotent approximation and it is always a continuous function. We then prove that up to dimension 4 it is smooth, while starting from dimension 5, in corank 1 case, it is C^3 (and C^4 on every smooth curve) but in general not C^5. These results answer to a question addressed by Montgomery about the relation between two intrinsic volumes that can be defined in a sub-Riemannian manifold, namely th…
Let (M,g) be a Riemannian manifold and G a nondegenerate g-natural metric on its tangent bundle T M . In this paper we establish a relation between the Jacobi operators of (M,g) and that of (T M,G). In the case of a Riemannian surface (M,g), we compute explicitly the spectrum of some Jacobi operators of (TM,G) and give necessary and sufficient conditions for (T M,G) to be an Osserman manifold.
We obtain the best known quantitative estimates for the $L^p$-Poincaré and log-Sobolev inequalities on domains in various sub-Riemannian manifolds, including ideal Carnot groups and in particular ideal generalized H-type Carnot groups and the Heisenberg groups, corank $1$ Carnot groups, the Grushin plane, and various H-type foliations, Sasakian and $3$-Sasakian manifolds. Moreover, this constitutes the first time that a quantitative estimate independent of the dimension is established on these spaces. For instance, the Li-Yau / Zhong-Yang spectral-gap estimate holds on all Heisenberg groups of…
We compare different notions of curvature on contact sub-Riemannian manifolds. In particular we introduce canonical curvatures as the coefficients of the sub-Riemannian Jacobi equation. The main result is that all these coefficients are encoded in the asymptotic expansion of the horizontal derivatives of the sub-Riemannian distance. We explicitly compute their expressions in terms of the standard tensors of contact geometry. As an application of these results, we obtain a sub-Riemannian version of the Bonnet-Myers theorem that applies to any contact manifold.
Using a new type of Jacobi field estimate we will prove a duality theorem for singular Riemannian foliations in complete manifolds of nonnegative sectional curvature.
We discuss some properties of Jacobi fields that do not involve assumptions on the curvature endomorphism. We compare indices of different spaces of Jacobi fields and give some applications to Riemannian geometry.
The study of solutions with fixed energy of certain classes of Lagrangian (or Hamiltonian) systems is reduced, via the classical Maupertuis--Jacobi variational principle, to the study of geodesics in Riemannian manifolds. We are interested in investigating the problem of existence of brake orbits and homoclinic orbits, in which case the Maupertuis--Jacobi principle produces a Riemannian manifold with boundary and with metric degenerating in a non trivial way on the boundary. In this paper we use the classical Maupertuis--Jacobi principle to show how to remove the degeneration of the metric on …
An algebraic curvature tensor A is said to be Jacobi-Tsankov if J(x)J(y)=J(y)J(x) for all x,y. This implies J(x)J(x)=0 for all x; necessarily A=0 in the Riemannian setting. Furthermore, this implies J(x)J(y)=0 for all x,y if the dimension is at most 13. We exhibit a 14-dimensional algebraic curvature tensor in signature (8,6) which is Jacobi--Tsankov but which has J(x)J(y) non 0 for some x,y. We determine the group of symmetries of this tensor and show that it is geometrically realizable by a wide variety of pseudo-Riemannian manifolds which are geodesically complete and have vanishing scalar …
In this paper we prove mixed norm estimates for Riesz transforms related to Laplace--Beltrami operators on compact Riemannian symmetric spaces of rank one. These operators are closely related to the Riesz transforms for Jacobi polynomials expansions. The key point is to obtain sharp estimates for the kernel of the Jacobi--Riesz transforms with uniform control on the parameters, together with an adaptation of Rubio de Francia's extrapolation theorem. The latter results are of independent interest.
We give a notion of compatibility between a Riemannian metric and a Jacobi structure. We prove that in case of Poisson structures, contact structures and locally conformally symplectic structures, fundamental examples of Jacobi structures, we get respectively Riemann-Poisson structures in the sense of M. Boucetta, $\frac{1}{ 2}$-Kenmotsu structures and locally conformally Kähler structures.
By considering the projectivized spectrum of the Jacobi operator, we introduce the concept of projective Osserman manifold in both the affine and in the pseudo-Riemannian settings. If M is an affine projective Osserman manifold, then the modified Riemannian extension metric on the cotangent bundle is both spacelike and timelike projective Osserman. Since any rank 1 symmetric space is affine projective Osserman, this provides additional information concerning the cotangent bundle of a rank 1 Riemannian symmetric space with the modified Riemannian extension metric. We construct other examples of…
The space of all Riemannian metrics on a smooth second countable finite dimensional manifold is itself a smooth manifold modeled on the space of symmetric (0,2)-tensor fields with compact support. It carries a canonical Riemannian metric which is invariant under the action of the diffeomorphism group. We determine its geodesics, exponential mapping, curvature, and Jacobi fields in a very explicit manner.
In this paper, we study Jacobi operators associated to algebraic curvature maps (tensors) on lightlike submanifolds M. We investigate conditions for an induced Rie- mann curvature tensor to be an algebraic curvature tensor on M. We introduce the notion of lightlike Osserman submanifolds and an example of 2-degenerate Osserman metric is given. Finally we give some results of symmetry properties on lightlike hy- persurfaces from Osserman condition.
We introduce a new approach for computing curvature of sub-Riemannian manifolds. Curvature is here meant as symplectic invariants of Jacobi curves of geodesics, as introduced by Zelenko and Li. We describe how they can be expressed using a compatible affine connection and induced tensors, without any restriction on our sub-Riemannian manifold or the choice of connection. In particular, we obtain a universal Bonnet-Myers theorem of Riemannian type. We also give universal formulas for the canonical horizontal frame along each geodesic and an algorithm for computing the curvature in general. Seve…
We define the notion of sub-Finsler geometry as a natural generalization of sub-Riemannian geometry with applications to optimal control theory. We compute a complete set of local invariants, geodesic equations, and the Jacobi operator for the three-dimensional case and investigate homogeneous examples.
Let $J(π)$ be the higher order Jacobi operator. We study algebraic curvature tensors where $J(π)J(π^{\perp})=J(π^{\perp})J(π)$. In the Riemannian setting, we give a complete characterization of such tensors; in the pseudo-Riemannian setting, partial results are available. We present non-trivial geometric examples of Riemannian manifolds with this property.
We exhibit 3 families of complete curvature homogeneous pseudo-Riemannian manifolds which are modeled on irreducible symmetric spaces and which are not locally homogeneous. All of the manifolds have nilpotent Jacobi operators; some of the manifolds are, in addition, Jordan Osserman and Jordan Ivanov-Petrova.
We study the higher order Jacobi operator in pseudo-Riemannian geometry. We exhibit a family of manifolds so that this operator has constant Jordan normal form on the Grassmannian of subspaces of signature (r,s) for certain values of (r,s). These pseudo-Riemannian manifolds are new and non-trivial examples of higher order Osserman manifolds.
In this paper, we define Jacobi fields for nonholonomic mechanics using a similar characterization than in Riemannian geometry. We give explicit conditions to find Jacobi fields and finally we find the nonholonomic Jacobi equations in two equivalent ways: the first one, using an appropriate complete lift of the nonholonomic system and, in the second one, using the curvature and torsion of the associated nonholonomic connection.
Recently examples of Riemannian homogeneous spaces with linear Jacobi relations were found. We calculate the Singer invariants of these spaces with the computer algebra program Maple and discuss the results by means of the Jet Isomorphism Theorem of pseudo-Riemannian geometry.
Given a closed Riemannian manifold of dimenion less than eight, we prove a compactness result for the space of closed, embedded minimal hypersurfaces satisfying a volume bound and a uniform lower bound on the first eigenvalue of the stability operator. When the latter assumption is replaced by a uniform lower bound on the p-th Jacobi eigenvalue for p greater or equal than 2 one gains strong convergence to a smooth limit submanifold away from at most p-1 points.
We study the spectral geometry of the conformal Jacobi operator on a 4-dimensional Riemannian manifold (M,g). We show that (M,g) is conformally Osserman if and only if (M,g) is self-dual or anti self-dual. Equivalently, this means that the curvature tensor of (M,g) is given by a quaternionic structure, at least pointwise.
In this paper, we first introduce the full express of the Riemannian curvature tensor of a real hypersurface $M$ in complex quadric $Q^{m}$ from the equation of Gauss. Next we derive a formula for the structure Jacobi operator $R_ξ$ and its derivative under the Levi-Civita connection of $M$. We give a complete classification of Hopf real hypersurfaces with Reeb parallel structure Jacobi operator, $\nabla_ξR_ξ =0$, in the complex quadric $Q^{m}$, $m \geq 3$.
It is proved that every locally conformal flat Riemannian manifold all of whose Jacobi operators have constant eigenvalues along every geodesic is with constant principal Ricci curvatures. A local classification (up to an isometry) of locally conformal flat Riemannian manifold with constant Ricci eigenvalues is given in dimensions 4,5,6,7 and 8. It is shown that any n-dimensional $(4\leq n \leq 8)$ locally conformal flat Riemannian manifold with constant principal Ricci curvatures is a Riemannian locally symmetric space.
Many classical facts in Riemannian geometry have their pseudo-Riemannian analogs. For instance, the spaces of space-like and time-like geodesics on a pseudo-Riemannian manifold have natural symplectic structures (just like in the Riemannian case), while the space of light-like geodesics has a natural contact structure. We discuss the geometry of these structures in detail, as well as introduce and study pseudo-Euclidean billiards. In particular, we prove pseudo-Euclidean analogs of the Jacobi-Chasles theorems and show the integrability of the billiard in the ellipsoid and the geodesic flow on …
Let J be a unitary almost complex structure on a Riemannian manifold (M,g). If x is a unit tangent vector, let P be the associated complex line spanned by x and by Jx. We show that if (M,g) is Hermitian or if (M,g) is nearly Kaehler, then either the complex Jacobi operator (JC(P)y=R(y,x)x+R(y,Jx)Jx) or the complex curvature operator (RC(P)y=R(x,Jx)y) completely determine the full curvature operator; this generalizes a well known result in the real setting to the complex setting. We also show this result fails for general almost Hermitian manifold.
It is established that the existence of non-isotropic vector field which Jacobi operator of maximal rank is an obstacle for the existence of non-trivial second-order symmetric parallel tensor field. In turns out that presence of such obstacle follows that manifold as pseudo-Riemannian manifold is locally non-reducible. In particular result can be applied directly to known classes of almost (para-) contact metric manifolds when considered Jacobi operator of characteristic vector field has maximal rank. There is effective algorithmic procedure which resolves the problem of existence of such vect…
Measure contraction properties are generalizations of the notion of Ricci curvature lower bounds in Riemannian geometry to more general metric measure spaces. In this paper, we give sufficient conditions for a Sasakian manifold equipped with a natural sub-Riemannian distance to satisfy these properties. Moreover, the sufficient conditions are defined by the Tanaka-Webster curvature. This generalizes the earlier work in \cite{AgLe1} for the three dimensional case and in \cite{Ju} for the Heisenberg group. To obtain our results we use the intrinsic Jacobi equations along sub-Riemannian extremals…
We develop a multivalued theory for the stability operator of (a constant multiple of) a minimally immersed submanifold $Σ$ of a Riemannian manifold $\mathcal{M}$. We define the multiple valued counterpart of the classical Jacobi fields as the minimizers of the second variation functional defined on a Sobolev space of multiple valued sections of the normal bundle of $Σ$ in $\mathcal{M}$, and we study existence and regularity of such minimizers. Finally, we prove that any $Q$-valued Jacobi field can be written as the superposition of $Q$ classical Jacobi fields everywhere except for a relativel…
We look into a construction of principal abelian varieties attached to certain spin manifolds, due to Witten and Moore-Witten around 2000 and try to place it in a broader framework. This is related to Weil intermediate Jacobians but it also suggests to associate abelian varieties to polarized even weight Hodge structures. The latter construction can also be explained in terms of algebraic groups which might be useful from the point of view of Tannakian categories. The constructions depend on moduli much as in Teichmüller theory although the period maps in general are only real analytic. One of…
We generalize classical large deviations theorems to the setting of complete Riemannian manifolds. We prove the analogue of Mogulskii's theorem for geodesic random walks via a general approach using visocity solutions for Hamilton-Jacobi equations. As a corollary, we also obtain the analogue of Cramér's theorem. The approach also provides a new proof of Schilder's theorem. Additionally, we provide a proof of Schilder's theorem by using an embedding into Euclidean space, together with Freidlin-Wentzell theory.
We consider a natural Riemannian metric on the infinite dimensional manifold of all embeddings from a manifold into a Riemannian manifold, and derive its geodesic equation in the case $\Emb(\Bbb R,\Bbb R)$ which turns out to be Burgers' equation. Then we derive the geodesic equation, the curvature, and the Jacobi equation of a right invariant Riemannian metric on an infinite dimensional Lie group, which we apply to $\Diff(\Bbb R)$, $\Diff(S^1)$, and the Virasoro-Bott group. Many of these results are well known, the emphasis is on conciseness and clarity.
