We explicitly describe the length minimizing geodesics for a sub-Riemannian structure of the elliptic type defined on $SL(2, \mathbb{R})$. Our method uses a symmetry reduction which translates the problem into a Riemannian problem on a two dimensional quotient space, on which projections of geodesics can be easily visualized. As a byproduct, we obtain an alternative derivation of the characterization of the cut-locus obtained in \cite{BoscaRossi}. We use classification results for three dimensional right invariant sub-Riemannian structures on Lie groups \cite{AGBD}, \cite{Biggs}, \cite{HB2} to identify exactly automorphic structures on which our results apply.
In the present paper we show that the geodesic flows of a sub-Riemannian metric and that of a Riemannian extension commute if and only if the extended metric is parallel with respect to a certain connection. This helps us to describe the geodesic flow of sub-Riemannian metrics on totally geodesic Riemannian submersions. As a consequence we can characterize sub-Riemannian geodesics as the horizontal lifts of projections of Riemannian geodesics.
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…
This note proves that any locally extremal non-self-conjugate geodesic loop in a Riemannian manifold is a closed geodesic. As a consequence, any complete and non-contractible Riemannian manifold with diverging injectivity radii along diverging sequences and without points conjugate to themselves, possesses a minimizing closed geodesic.
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 geodesics on SO(3) and use it to get a parameterization of almost-Riemannian geodesics on $S^2$. We use symmetries of the exponential map to obtain some necessary optimality conditions. We present some upper bounds on the cut time in both cases and describe periodic geodesics on S…
Let $M$ be a surface with a Riemannian metric and $UM$ the unit tangent bundle over $M$ with the canonical contact sub-Riemannian structure $D$ on $UM$. In this paper, the complete local classification of singularities, under the Legendre fibration $UM$ over $M$, is given for sub-Riemannian geodesics of $(UM, D)$. Legendre singularities of sub-Riemannian geodesics are classified completely also for another Legendre fibration from $UM$ to the space of Riemannian geodesics on $M$. The duality on Legendre singularities is observed related to the pendulum motion.
In the present paper we study pseudo-Riemannian submanifolds which have 3-planar geodesic normal sections.We consider W-curves (helices) on pseudo-Riemannian submanifolds. Finally, we give neccessary and sufficient condition for a normal section to be a W-curve on pseudo-Riemannian submanifolds.
The paper is devoted to the study of geodesic orbit Riemannian spaces that could be characterize by the property that any geodesic is an orbit of a 1-parameter group of isometries. The main result is the classification of compact simply connected geodesic orbit Riemannian spaces $G/H$ with two irreducible submodules in the isotropy representation.
A geodesic orbit manifold is a complete Riemannian manifold all of whose geodesics are orbits of one-parameter groups of isometries. We give both a geometric and an algebraic characterization of geodesic orbit manifolds that are diffeomorphic to $\mathbf{R}^n$. Along the way, we establish various structural properties of more general geodesic orbit manifolds.
The paper is devoted to the study of geodesic orbit Riemannian spaces that could be characterize by the property that any geodesic is an orbit of a 1-parameter group of isometries. In particular, we discuss some important totally geodesic submanifolds that inherit the property to be geodesic orbit. For a given geodesic orbit Riemannian space, we describe the structure of the nilradical and the radical of the Lie algebra of the isometry group. In the final part, we discuss some new tools to study geodesic orbit Riemannian spaces, related to compact Lie group representations with non-trivial pri…
We present an example of a complete Riemannian plane with precisely two injective geodesics - up to reparameterization. The example arises as a perturbation of a surface of revolution with contracting end. The last section is devoted to open problems.
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.
In this article, we have introduced the concept of \textit{geodesic $(α,E)$-invex set} and by using this concept the notion of \textit{geodesic $(α,E)$-preinvex functions} and \textit{geodesic $(α,E)$-invex functions} are developed on a Riemannian manifold. Moreover, several properties and results are deduced within aforesaid functions. An example is also constructed to illustrate the definition of geodesic $(α,E)$-invex set. We have also established an important relation between geodesic $(α,E)$-preinvex function and geodesic $(α,E)$-invex function in a complete Riemannian manifold.
We give a definition of weak geodesics on prox-regular subsets of Riemannian manifolds as continuous curves with some weak regularities. Then obtaining a suitable Lipschitz constant of the projection map, we characterize weak geodesics on a prox-regular set with assigned end points as viscosity critical points of the energy functional.
We provide an easy approach to the geodesic distance on the general linear group GL(n) for left-invariant Riemannian metrics which are also right-O(n)-invariant. The parametrization of geodesic curves and the global existence of length minimizing geodesics are deduced using simple methods based on the calculus of variations and classical analysis only. The geodesic distance is discussed for some special cases and applications towards the theory of nonlinear elasticity are indicated.
The authors found geodesics, shortest arcs, cut loci, and conjugate sets for left-invariant sub-Riemannian matric on the Lie group $SL(2)$, which is right-invariant relative to the Lie subgroup $SO(2)\subset SL(2)$ (in other words, for invariant sub-Riemannian metric on weakly symmetric space $(SL(2)\times SO(2))/SO(2)$).
We prove the existence of immersed closed curves of constant geodesic curvature in an arbitrary Riemannian 2-sphere for almost every prescribed curvature. To achieve this, we develop a min-max scheme for a weighted length functional.
The usual notion of set-convexity, valid in the classical Euclidean context, metamorphoses into several distinct convexity types in the more general Riemannian setting. By studying this phenomenon in reverse, we characterize complete manifolds for which certain convexity types are assumed a priori to coincide.
Considering Riemannian submersions, we find necessary and sufficient conditions for when sub-Riemannian normal geodesics project to curves of constant first geodesic curvature or constant first and vanishing second geodesic curvatures. We describe a canonical extension of the sub-Riemannian metric and study geometric properties of the obtained Riemannian manifold. This work contains several examples illustrating the results.
Fix a smooth closed manifold $M$. Let $R_M$ denote the space of all pairs $(g,L)$ such that $g$ is a $C^3$ Riemannian metric on $M$ and the real number $L$ is not the length of any closed $g$-geodesics. A locally constant geodesic count function $π_M:R_M\rightarrow Z$ is constructed. For this purpose, the weight of compact open subsets of the space of closed $g$-geodesics is defined and investigated for an arbitrary Riemannian metric $g$.
We discuss some geometric aspects of PSL(2,C), SL(2,C), and the space G of the geodesics of H^3 equipped with some suitable structures of Riemannian holomorphic manifolds of constant sectional curvature. We also observe that G is a symmetric space for the group PSL(2,C) and use it to deduce some correlations between their holomorphic Riemannian metrics.
We consider a pseudo-Riemannian metric that changes signature along a smooth curve on a surface, called the discriminant curve. The discriminant curve separates the surface locally into a Riemannian and a Lorentzian domain. We study the local behaviour and properties of geodesics at a point on the discriminant where the isotropic direction is tangent to the discriminant curve.
We studied rules of transformations of Christoffel symbols under third type almost geodesic mappings in this paper. From this research, we obtained some new invariants of these mappings. These invariants are analogies of Thomas projective parameter and Weyl projective tensor.
A conjecture of Burns and Knieper asks whether a 2-plane with a metric without conjugate points, and with a geodesic foliation whose lines are at bounded Hausdorff distance, is necessarily flat. We prove this conjecture in two cases: under the hypothesis that the plane admits total curvature, and under the hypothesis of visibility at some point. Along the way, we show that all geodesic line foliations on a Riemannian 2-plane must be homeomorphic to the standard one.
Metrics on Lie groupoids and differentiable stacks have been introduced recently, extending the Riemannian geometry of manifolds and orbifolds to more general singular spaces. Here we continue that theory, studying stacky curves on Riemannian stacks, measuring their length using stacky metrics, and introducing stacky geodesics. Our main results show that the length of stacky curves measure distances on the orbit space, characterize stacky geodesics as locally minimizing curves, and establish a stacky version of Hopf-Rinow Theorem. We include a concise overview that bypasses nonessential techni…
We study the interplay between geodesics on two non-holono\-mic systems that are related by the action of a Lie group on them. After some geometric preliminaries, we use the Hamiltonian formalism to write the parametric form of geodesics. We present several geometric examples, including a non-holonomic structure on the Gromoll-Meyer exotic sphere and twistor space.
In 86, Ranjan questioned whether a submersion $π: G\to B$ from a compact simple Lie group with bi-invariant metric is a coset foliation or not, provided the submersion is Riemannian with totally geodesic fibers. Here we answer this question affirmatively, even when the submersion is defined only in an open subset of $G$ (assuming suitable hypothesis).
In this paper we prove that the compact Lie group $G_2$ admits a left-invariant Einstein metric that is not geodesic orbit. In order to prove the required assertion, we develop some special tools for geodesic orbit Riemannian manifolds. It should be noted that a suitable metric is discovered in a recent paper by I. Chrysikos and Y. Sakane, where the authors proved also that this metric is not naturally reductive.
We study the geodesic orbit property for nilpotent Lie groups $N$ when endowed with a pseudo-Riemannian left-invariant metric. We consider this property with respect to different groups acting by isometries. When $N$ acts on itself by left-translations we show that it is a geodesic orbit space if and only if the metric is bi-invariant. Assuming $N$ is 2-step nilpotent and with non-degenerate center we give algebraic conditions on the Lie algebra $\mathfrak n$ of $N$ in order to verify that every geodesic is the orbit of a one-parameter subgroup of $N\rtimes\operatorname{Auto}(N)$. In addition …
We classify hypersurfaces of the Minkowski space $Ł^{n+1}$ that carry a totally geodesic foliation with complete leaves of codimension one. We prove that such a hypersurface is ruled, or a partial tube over a curve or contains a two or three dimensional strip. Moreover, if the hypersurface is embedded then it is a partial tube over a curve.
