Let M be either a simply connected pseudo-Riemannian space of constant curvature or a rank one Riemannian symmetric space (other than the octonion hyperbolic plane), and consider the space L(M) of oriented geodesics of M. The space L(M) is a smooth homogeneous manifold and in this paper we describe all invariant symplectic structures, (para)complex structures, pseudo-Riemannian metrics and (para)Kaehler structure on L(M).
We study area-stationary, or maximal, surfaces in the space ${\mathbb L}({\mathbb H}^3)$ of oriented geodesics of hyperbolic 3-space, endowed with the canonical neutral Kähler structure. We prove that every holomorphic curve in ${\mathbb L}({\mathbb H}^3)$ is a maximal surface. We then classify Lagrangian maximal surfaces $Σ$ in ${\mathbb L}({\mathbb H}^3)$ and prove that the family of parallel surfaces in ${\mathbb H}^3$ orthogonal to the geodesics $γ\inΣ$ form a family of equidistant tubes around a geodesic.
A Hopf hypersurface in a (para-)Kaehler manifold is a real hypersurface for which one of the principal directions of the second fundamental form is the (para-)complex dual of the normal vector. We consider particular Hopf hypersurfaces in the space of oriented geodesics of a non-flat space form of dimension greater than 2. For spherical and hyperbolic space forms, the oriented geodesic space admits a canonical Kaehler-Einstein and para-Kaehler-Einstein structure, respectively, so that a natural notion of a Hopf hypersurface exists. The particular hypersurfaces considered are formed by the orie…
We construct a Kähler structure (${\mathbb{J}},Ω,{\mathbb{G}}$) on the space ${\mathbb{L}}({\mathbb{H}}^3)$ of oriented geodesics of hyperbolic 3-space ${\mathbb{H}}^3$ and investigate its properties. We prove that (${\mathbb{L}}({\mathbb{H}}^3),{\mathbb{J}})$ is biholomorphic to ${\mathbb{P}}^1\times{\mathbb{P}}^1-\barΔ$, where $\barΔ$ is the reflected diagonal, and that the Kähler metric ${\mathbb{G}}$ is of neutral signature, conformally flat and scalar flat. We establish that the identity component of the isometry group of the metric ${\mathbb{G}}$ on ${\mathbb{L}}({\mathbb{H}}^3)$ is isom…
In this article, we construct a new para-Kähler structure $({\mathcal G},{\mathcal J},Ω)$ in the space of oriented geodesics ${\mathbb L}(M)$ in a non-flat, real space form $M$. We first show that the para-Kähler metric ${\mathcal G}$ is scalar flat and when $M$ is a 3-dimensional real space form, ${\mathcal G}$ is locally conformally flat. Furthermore, we prove that the space of oriented geodesics in hyperbolic $n$-space, equipped with the constructed metric ${\mathcal G}$, is minimally isometric embedded in the tangent bundle of the hyperbolic $n$-space. We then study the submanifold theory,…
In this paper, the general formulation for inextensible flows of curves on oriented surface in $\mathbb{R}^3 $ is investigated. The necessary and sufficient conditions for inextensible curve flow lying an oriented surface are expressed as a partial differential equation involving the geodesic curvature and the geodesic torsion. Moreover, some special cases of inextensible curves on oriented surface are given.
These are lecture notes for the course "MATS4120 Geometry of geodesics" given at the University of Jyväskylä in Spring 2020. Basic differential geometry or Riemannian geometry is useful background but is not strictly necessary. Exercise problems are included, and problems marked important should be solved as you read to ensure that you are able to follow.
We prove that a deformation of a hypersurface in a $(n+1)$-dimensional real space form ${\mathbb S}^{n+1}_{p,1}$ induce a Hamiltonian variation of the normal congruence in the space ${\mathbb L}({\mathbb S}^{n+1}_{p,1})$ of oriented geodesics. As an application, we show that every Hamiltonian minimal sumbanifold in ${\mathbb L}({\mathbb S}^{n+1})$ (resp. ${\mathbb L}({\mathbb H}^{n+1})$) with respect to the (para-) Kaehler Einstein structure is locally the normal congruence of a hypersurface $Σ$ in ${\mathbb S}^{n+1}$ (resp. ${\mathbb H}^{n+1}$) that is a critical point of the functional ${\ca…
In this paper, we generalize the classification of geodesic orbit spheres from Riemannian geometry to Finsler geometry. Then we further prove if a geodesic orbit Finsler sphere has constant flag curvature, it must be Randers. It provides an alternative proof for the classification of invariant Finsler metrics with $K\equiv1$ on homogeneous spheres other than $Sp(n)/Sp(n-1)$.
In this paper, we define and study sub-Riemannian structures on Banach manifolds. We obtain extensions of the Chow-Rashevski theorem for exact controllability, and give conditions for the existence of a Hamiltonian geodesic flow despite the lack of a Pontryagin Maximum Principle in the infinite dimensional setting.
We investigate the geometric properties of marginally trapped surfaces (surfaces which have null mean curvature vector) in the spaces of oriented geodesics of Euclidean 3-space and hyperbolic 3-space, endowed with their canonical neutral Kaehler structures. We prove that every rank one surface in these four manifolds is marginally trapped. In the Euclidean case we show that Lagrangian rotationally symmetric sections are marginally trapped and construct an explicit family of marginally trapped Lagrangian tori. In the hyperbolic case we explore the relationship between marginally trapped and Wei…
There are many equivalent definitions of Riemannian geodesics. They are naturally generalised to sub-Riemannian manifold, but become non-equivalent. We give a review of different definitions of geodesics of a sub-Riemannian manifold and interrelation between them. We recall three variational definitions of geodesics as (locally) shortest curves (Euler-Lagrange, Pontyagin and Hamilton) and three definitions of geodesics as straightest curves (d'Alembert , Levi-Civita-Schouten and Cartan-Tanaka ), used in nonholonomic mechanics and discuss their interrelations. We consider a big class of sub-Rie…
We consider foliations of the whole three dimensional hyperbolic space H^3 by oriented geodesics. Let L be the space of all the oriented geodesics of H^3, which is a four dimensional manifold carrying two canonical pseudo-Riemannian metrics of signature (2,2). We characterize, in terms of these geometries of L, the subsets M in L that determine foliations of H^3. We describe in a similar way some distinguished types of geodesic foliations of H^3, regarding to which extent they are in some sense trivial in some directions: On the one hand, foliations whose leaves do not lie in a totally geodesi…
A conformal structure on a manifold $M^n$ induces natural second order conformally invariant operators, called Möbius and Laplace structures, acting on specific weight bundles of $M$, provided that $n\ge 3$. By extending the notions of Möbius and Laplace structures to the case of surfaces and curves, we develop here the theory of extrinsic conformal geometry for submanifolds, find tensorial invariants of a conformal embedding, and use these invariants to characterize various forms of geodesic submanifolds.
Let L be the manifold of all (unparametrized) oriented lines of R^3. We study the controllability of the control system in L given by the condition that a curve in L describes at each instant, at the infinitesimal level, an helicoid with prescribed angular speed alpha. Actually, we pose the analogous more general problem by means of a control system on the manifold G_kappa of all the oriented complete geodesics of the three dimensional space form of curvature kappa: R^3 for kappa = 0, S^3 for kappa = 1 and hyperbolic 3-space for kappa = -1. We obtain that the system is controllable if and only…
We study the geometry and the periodic geodesics of a compact Lorentzian manifold that has a Killing vector field which is timelike somewhere. Using a compactness argument for subgroups of the isometry group, we prove the existence of one timelike non self-intersecting periodic geodesic. If the Killing vector field is never vanishing, then there are at least two distinct periodic geodesics; as a special case, compact stationary manifolds have at least two periodic timelike geodesics. We also discuss some properties of the topology of such manifolds. In particular, we show that a compact manifo…
We study the totally null surfaces of the neutral Kaehler metric on certain 4-manifolds. The tangent spaces of totally null surfaces are either self-dual ($α$-planes) or anti-self-dual ($β$-planes) and so we consider $α$-surfaces and $β$-surfaces. The metric of the examples we study, which include the spaces of oriented geodesics of 3-manifolds of constant curvature, are anti-self-dual, and so it is well-known that the $α$-planes are integrable and $α$-surfaces exist. These are holomorphic Lagrangian surfaces, which for the geodesic spaces correspond to totally umbilic foliations of the underl…
Let H be the hyperbolic space of dimension n+1. A geodesic foliation of H is given by a smooth unit vector field on H all of whose integral curves are geodesics. Each geodesic foliation of H determines an n-dimensional submanifold M of the 2n-dimensional manifold L of all the oriented geodesics of H (up to orientation preserving reparametrizations). The space L has a canonical split semi-Riemannian metric induced by the Killing form of the isometry group of H. Using a split special Lagrangian calibration, we study the volume maximization problem for a certain class of geometrically distinguish…
To any compact Riemann surface of genus g one may assign a principally polarized abelian variety of dimension g, the Jacobian of the Riemann surface. The Jacobian is a complex torus, and a Gram matrix of the lattice of a Jacobian is called a period Gram matrix. This paper provides upper and lower bounds for all the entries of the period Gram matrix with respect to a suitable homology basis. These bounds depend on the geometry of the cut locus of non-separating simple closed geodesics. Assuming that the cut loci can be calculated, a theoretical approach is presented followed by an example where…
In this paper, we consider the classical variational problem in the Galilean space. we develop the Euler-Lagrange equations for a elastic line on an oriented surface in the Galilean 3-dimensional space $G_3$. Using the varia- tion method, we will try to give some characterization for the solution curve (the elastic line) of energy equation described by the total squared curvature function of a curve on an oriented surface in $G_3$. Finally, we will investigate whether or not the relaxed elastic curves are on a geodesic.
For an oriented isometric immersion $f:M\to S^n$ the spherical Gauss map is the Legendrian immersion of its unit normal bundle $UM^\perp$ into the unit sphere subbundle of $TS^n$, and the geodesic Gauss map $γ$ projects this into the manifold of oriented geodesics in $S^n$ (the Grassmannian of oriented 2-planes in $\mathbb{R}^{n+1}$), giving a Lagrangian immersion of $UM^\perp$ into a Kaehler-Einstein manifold. We give expressions for the mean curvature vectors for both the spherical and geodesic Gauss maps in terms of the second fundamental form of $f$, and show that when $f$ has conformal sh…
In this paper we construct a functor from the category of two-dimensional Riemannian manifolds to the category of three-dimensional manifolds with generalized metric tensors. For each two-dimensional oriented Riemannian manifold $(M,g)$ we construct a metric tensor $\hat g$ (in general, with singularities) on the total space $SO(M,g)$ of the principal bundle of the positively oriented orthonormal frames on $M$. We call the metric $\hat g$ the Wagner lift of $g$. We study the relation between the isometry groups of $(M,g)$ and $(SO(M,g),\hat g)$. We prove that the projections of the geodesics o…
We investigate certain natural connections between subriemannian geometry and hyperbolic dynamical systems. In particular, we study dynamically defined horizontal distributions which split into two integrable ones and ask: how is the energy of a subriemannian geodesic shared between its projections onto the integrable summands? We show that if the horizontal distribution is the sum of the strong stable and strong unstable distributions of a special type of a contact Anosov flow in three dimensions, then for any short enough subriemannian geodesic connecting points on the same orbit of the Anos…
We determine all Finsler metrics of Randers type for which the Riemannian part is a scalar multiple of the Euclidean metric, on an open subset of the Euclidean plane, whose geodesics are circles. We show that the Riemannian part must be of constant Gaussian curvature, and that for every such Riemannian metric there is a class of Randers metrics satisfying the condition, determined up to the addition of a total derivative, depending on a single parameter. As one of several applications we exhibit a Finsler metric whose geodesics are the oriented horocycles in the Poincare disk, in each of the t…
Conditions for the existence of closed geodesics is a classic, much-studied subject in Riemannian geometry, with many beautiful results and powerful techniques. However, many of the techniques that work so well in that context are far less effective in Lorentzian geometry. In revisiting this problem here, we introduce the notion of timelike geodesic homotopy, a restriction to geodesics of the more standard timelike homotopy (also known as $t$-homotopy) of timelike loops on Lorentzian manifolds. This tool is combined with a local shortening/stretching of length argument to provide a number of n…
We answer to the question whether a system of the 3rd order ODEs describes geodesics of a conformal structure. We construct a functor from a category of conformal geometries to a category of Cartan geometries associated to the 3rd order ODEs systems. Explicit formulas which define the family of all equations on conformal geodesics are given in the last section of the article.
A Finsler space is said to be geodesically reversible if each oriented geodesic can be reparametrized as a geodesic with the reverse orientation. A reversible Finsler space is geodesically reversible, but the converse need not be true. In this note, building on recent work of LeBrun and Mason, it is shown that a geodesically reversible Finsler metric of constant flag curvature on the 2-sphere is necessarily projectively flat. As a corollary, using a previous result of the author, it is shown that a reversible Finsler metric of constant flag curvature on the 2-sphere is necessarily a Riemannian…
We consider $H$(eisenberg)-type groups whose law of left translation gives rise to a bracket generating distribution of step 2. In the contrast with sub-Riemannian studies we furnish the horizontal distribution with a nondegenerate indefinite metric of arbitrary index and investigate the problem concerning causal geodesics on underlying manifolds. The exact formulae for geodesics are obtained.
We consider a unit normal vector field of (local) hyperfoliation on a given Riemannian manifold as a submanifold in the unit tangent bundle with Sasaki metric. We give an explicit expression of the second fundamental form for this submanifold and a rather simple condition its totally geodesic property in the case of a totally umbilic hyperfoliation. A corresponding example shows the non-triviality of this condition. In the 2-dimensional case, we give a complete description of Riemannian manifolds admitting a geodesic unit vector field with totally geodesic property.
The aim of this note is to describe the geometry of $\mathbb{C}^2$ equipped with a Kähler metric defined by Warren. It is shown that with that metric $\mathbb{C}^2$ is a flat manifold. Explicit formulae for geodesics and volume of geodesic ball are also computed. Finally, a family of similar flat metrics is constructed.
We prove that there exists a metric of positive curvature in a three-sphere which admits a given torus knot as a closed geodesic.We also sketch a construction of a metric in a four sphere, very likely of positive curvature, which admits a totally geodesic projective plane with Euler number four. Surpisingly, the technique borrows a lot from the Mostow-Siu-Gromov-Thurston constuction of exotic negatively curved manifolds.
Let H be the n-dimensional hyperbolic space of constant sectional curvature -1 and let G be the identity component of the isometry group of H. We find all the G-invariant pseudo-Riemannian metrics on the space OG_n of oriented geodesics of H (modulo orientation preserving reparametrizations). We characterize the null, time- and space-like curves, providing a relationship between the geometries of OG_n and H. Moreover, we show that OG_3 is Kähler and find an orthogonal almost complex structure on OG_7.
Let $\mathcal M= (M,\mathcal O_\mathcal M)$ be a smooth supermanifold with connection $\nabla$ and Batchelor model $\mathcal O_\mathcal M\congΓ_{ΛE^\ast}$. From $(\mathcal M,\nabla)$ we construct a connection on the total space of the vector bundle $E\to{M}$. This reduction of $\nabla$ is well-defined independently of the isomorphism $\mathcal O_\mathcal M \cong Γ_{ΛE^\ast}$. It erases information, but however it turns out that the natural identification of supercurves in $\mathcal M$ (as maps from $ \mathbb R^{1|1}$ to $\mathcal M$) with curves in $E$ restricts to a 1 to 1 correspondence on g…
In the present paper we study the global behaviour of geodesics on a Randers metric, defined on a topological cylinder, obtained as the solution of the Zermelo's navigation problem. Our wind is not necessarily a Killing field. In special we concentrate our study on the geodesics equation on the base manifold, the conjugate and cut loci.
We prove three facts about intrinsic geometry of surfaces in a normed (Minkowski) space. When put together, these facts demonstrate a rather intriguing picture. We show that (1) geodesics on saddle surfaces (in a space of any dimension) behave as they are expected to: they have no conjugate points and thus minimize length in their homotopy class; (2) in contrast, every two-dimensional Finsler manifold can be locally embedded as a saddle surface in a 4-dimensional space; and (3) geodesics on convex surfaces in a 3-dimensional space also behave as they are expected to: on a complete strictly con…
A celebrated result due to Poincaré affirms that a closed non-degenerate minimizing geodesic $γ$ on an oriented Riemannian surface is hyperbolic. Starting from this classical theorem, our first main result is a general instability criterion for timelike and spacelike closed semi-Riemannian geodesics on a (non)oriented manifold. A key role is played by the spectral index, a new topological invariant that we define through the spectral flow (being the Morse index truly infinite) of a path of selfadjoint Fredholm operators. A major step in the proof of this result is a em new spectral flow formul…
We present a view of the current understanding of the geometry of Weil-Petersson (WP) geodesics on the completion of the Teichmüller space. We sketch a collection of results by other authors and then proceed to develop the properties of the WP CAT(0) geometry. Our approach includes a simplified proof of the Masur-Wolf theorem, a classification of flats and of geodesic limits.
In this note, we show that sub-Riemannian manifolds can contain branching normal minimizing geodesics. This phenomenon occurs if and only if a normal geodesic has a discontinuity in its rank at a non-zero time, which in particular for a strictly normal geodesic means that it contains a non-trivial abnormal subsegment. The simplest example is obtained by gluing the three-dimensional Martinet flat structure with the Heisenberg group in a suitable way. We then use this example to construct more general types of branching.
We establish the essentially optimal form of Donaldson's geodesic stability conjecture regarding existence of constant scalar curvature Kähler metrics. We carry this out by exploring in detail the metric geometry of Mabuchi geodesic rays, and the uniform convexity properties of the space of Kähler metrics.
We study the local geometry of the space of horizontal curves with endpoints freely varying in two given submanifolds $\mathcal P$ and $\mathcal Q$ of a manifold $\mathcal M$ endowed with a distribution $\mathcal D\subset T\M$. We give a different proof, that holds in a more general context, of a result by Bismut (Large Deviations and the Malliavin Calculus, Birkhauser, 1984) stating that the normal extremizers that are not abnormal are critical points of the sub-Riemannian action functional. We use the Lagrangian multipliers method in a Hilbert manifold setting, which leads to a characterizat…
We prove a semi-Riemannian version of the celebrated Morse Index Theorem for geodesics in semi-Riemannian manifolds; we consider the general case of both endpoints variable on two submanifolds. The key role of the theory is played by the notion of the {\em Maslov index} of a semi-Riemannian geodesic, which is a homological invariant and it substitutes the notion of geometric index in Riemannian geometry. Under generic circumstances, the Maslov index of a geodesic is computed as a sort of {\em algebraic count} of the conjugate points along the geodesic. For non positive definite metrics the ind…
We construct a Weil-Petersson geodesic completion of Teichmuller space through the formalism of Coxeter complex with the Teichmuller space as its non-linear non-homogeneous fundamental domain. We show that the metric and geodesic completions both satisfy a finite rank property, demonstrating a similarity with the non-compact symmetric spaces of semi-simple Lie groups.
Let $(M,g)$ be a Riemannian manifold with boundary. We show that knowledge of the length of each geodesic, and where pairwise intersections occur along the corresponding geodesics allows for recovery of the geometry of $(M,g)$ (assuming $(M,g)$ admits a Riemannian collar of a uniform radius). We call this knowledge the 'stitching data'. We then pose a boundary measurement type problem called the 'delayed collision data problem' and apply our first result about the stitching data to recover the geometry from the collision data (with some reasonable geometric restrictions on the manifold).
A manifold with an arbitrary affine connection is considered and the geodesic spray associated with the connection is studied in the presence of a Lie group action. In particular, results are obtained that provide insight into the structure of the reduced dynamics associated with the given invariant affine connection. The geometry of the frame bundle of the given manifold is used to provide an intrinsic description of the geodesic spray. A fundamental relationship between the geodesic spray, the tangent lift and the vertical lift of the symmetric product is obtained, which provides a key to un…
If $Ω$ is the interior of a convex polygon in $\mathbb{R}^{2}$ and $f,g$ two asymptotic geodesics, we show that the distance function $d\left(f\left(t\right),g\left(t\right)\right)$ is convex for $t$ sufficiently large. The same result is obtained in the case $\partial Ω$ is of class $C^{2}$ and the curvature of $\partial Ω$ at the point $f\left(\infty\right)=g\left(\infty\right) $ does not vanish. An example is provided for the necessity of the curvature assumption.
We show that a conformal connection on a closed oriented surface $Σ$ of negative Euler characteristic preserves precisely one conformal structure and is furthermore uniquely determined by its unparametrised geodesics. As a corollary it follows that the unparametrised geodesics of a Riemannian metric on $Σ$ determine the metric up to constant rescaling. It is also shown that every conformal connection on the $2$-sphere lies in a complex $5$-manifold of conformal connections, all of which share the same unparametrised geodesics.
This is Part II of a series on noncompact isometry groups of Lorentz manifolds. We have introduced in Part I, a compactification of these isometry groups, and called ``bi-polarized'' those Lorentz manifolds having a ``trivial '' compactification. Here we show a geometric rigidity of non-bi-polarized Lorentz manifolds; that is, they are (at least locally) warped products of constant curvature Lorentz manifolds by Riemannian manifolds.
We investigate the rudiments of Riemannian geometry on orbit spaces $M/G$ for isometric proper actions of Lie groups on Riemannian manifolds. Minimal geodesic arcs are length minimising curves in the metric space $M/G$ and they can hit strata which are more singular only at the end points. This is phrased as convexity result. The geodesic spray, viewed as a (strata-preserving) vector field on $TM/G$, leads to the notion of geodesics in $M/G$ which are projections under $M\to M/G$ of geodesics which are normal to the orbits. It also leads to `ballistic curves' which are projections of the other…
