The goal of this paper is to use singularity theory to find normal forms near the critical points of the sub-Riemannian exponential map. Three cases are studied: the $α$-Grushin plane with fold singularities, and the special unitary group $\mathrm{SU}(2)$ and special linear group $\mathrm{SL}(2)$ with fold and saddle-like singularities. They serve as examples of different sub-Riemannian structures and the techniques presented can be applied to other contexts. The paper also includes a discussion of the implications of this approach, as well as open problems.
Let $G_{2(2)}$ be the non-compact connected simple Lie group of type $G_2$ over $\mathbb{R}$, and let $M$ be a connected analytic complete pseudo-Riemannian manifold that admits an isometric $G_{2(2)}$-action with a dense orbit. For the case $\dim(M) \leq 21$, we provide a full description of the manifold $M$, its geometry and its $G_{2(2)}$-action. The latter are always given in terms of a Lie group geometry related to $G_{2(2)}$, and in one case $M$ is essentially the quotient of $\widetilde{\mathrm{S0}}_0(3,4)$ by a lattice.
We give the complete classification of all sub-Riemannian model spaces with both step and rank three. They will be divided into three families based on their nilpotentization. Each family will depend on a different number of parameters, making the result crucially different from the known case of step two model spaces. In particular, there are no nontrivial sub-Riemannian model spaces of step and rank three with free nilpotentization. We also realize both the compact real form $\mathfrak{g}_2^c$ and the split real form $\mathfrak{g}_2^s$ of the exceptional Lie algebra $\mathfrak{g}_2$ as isome…
We prove the Focal Index Lemma and the Rauch and Berger comparison theorems on a weak Riemannian Hilbert manifold with a smooth Levi-Civita connection and we apply these results to the free loop spaces of a compact manifold with the L^2 metrics
In this paper, we investigate complete Riemannian manifolds satisfying the lower weighted Ricci curvature bound $\mathrm{Ric}_{N} \geq K$ with $K>0$ for the negative effective dimension $N<0$. We analyze two $1$-dimensional examples of constant curvature $\mathrm{Ric}_N \equiv K$ with finite and infinite total volumes. We also discuss when the first nonzero eigenvalue of the Laplacian takes its minimum under the same condition $\mathrm{Ric}_N \ge K>0$, as a counterpart to the classical Obata rigidity theorem. Our main theorem shows that, if $N<-1$ and the minimum is attained, then the manifold…
Let $(M,H,g_H;g)$ be a sub-Riemannian manifold and $(N,h)$ be a Riemannian manifold. For a smooth map $u: M \to N$, we consider the energy functional $E_G(u) = \frac{1}{2} \int_M[|\mathrm{d}u_H|^2-2G(u)] \mathrm{d}V_M$, where $\mathrm{d}u_H$ is the horizontal differential of $u$, $G:N\to \mathbb{R}$ is a smooth function on $N$. The critical maps of $E_G(u)$ are referred to as subelliptic harmonic maps with potential $G$. In this paper, we investigate the existence problem for subelliptic harmonic maps with potentials by a subelliptic heat flow. Assuming that the target Riemannian manifold has …
$k$-symplectic manifolds are a convenient framework to study classical field theories and they are a generalization of polarized symplectic manifolds. This paper focus on the existence and the properties of left invariant $k$-symplectic structures on Lie groups having a bi-invariant pseudo-Riemannian metric. We show that compact semi-simple Lie groups and a large class of Lie groups having a bi-invariant pseudo-Riemannian metric does not carry any left invariant $k$-symplectic structure. This class contains the oscillator Lie groups which are the only solvable non abelian Lie groups having a b…
Using symplectic techniques and spectral analysis of smooth paths of self-adjoint operators, we characterize the set of conjugate instants along a geodesic in an infinite dimensional Riemannian Hilbert manifold.
In this paper, using blow-up analysis, we prove a quantization result for an elliptic equation with critical exponential growth on compact Riemannian surface without boundary. Similar results for Euclidean space were obtained by Adimurthi-Struwe \cite{Adi-Stru}, Druet \cite{Druet}, Lamm-Robert-Struwe \cite{L-R-S}, Martinazzi \cite{Mart}, Martinazzi-Struwe \cite{Mar-Stru}, and Struwe \cite{Struwe} respectively.
This paper is devoted to geodesic completeness of left-invariant metrics for real and complex Lie groups. We start by establishing the Euler-Arnold formalism in the holomorphic setting. We study the real Lie group $\mathrm{SL}(2, \mathbb{R})$ and reobtain the known characterization of geodesic completeness and, in addition, present a detailed study where we investigate the maximum domain of definition of every single geodesic for every possible metric. We investigate completeness and semicompleteness of the complex geodesic flow for left-invariant holomorphic metrics and, in particular, establ…
We consider the harmonic heat flow for maps from a compact Riemannian manifold into a Riemannian manifold that is complete and of non-positive curvature. We prove that if the harmonic heat flow converges to a limiting harmonic map that is a non-degenerate critical point of the energy functional, then the rate of convergence is exponential (in the $L^2$ norm).
These notes give an informal and leisurely introduction to $\mathrm{G}_2$ geometry for beginners. A special emphasis is placed on understanding the special linear algebraic structure in $7$ dimensions that is the pointwise model for $\mathrm{G}_2$ geometry, using the octonions. The basics of $\mathrm{G}_2$-structures are introduced, from a Riemannian geometric point of view, including a discussion of the torsion and its relation to curvature for a general $\mathrm{G}_2$-structure, as well as the connection to Riemannian holonomy. The history and properties of torsion-free $\mathrm{G}_2$ manifo…
Let $FM,\mathcal{M}_M$ be the bundles of linear frames and Riemannian metrics of a manifold $M$, respectively. The existence of a unique $\mathrm{Diff}M$-invariant connection form on $J^1\mathcal{M}_M\times_MFM\to J^1\mathcal{M}_M$, which is Riemannian with respect to the universal metric on $J^1\mathcal{M}_M\times_MTM$, is proved. Aplications to the construction of universal Pontryagin and Euler forms, are given.
We prove that the sub-Riemannian exponential map is not injective in any neighbourhood of certain critical points. Namely that it does not behave like the injective map of reals given by $f(x) = x^3$ near its critical point $x = 0$. As a consequence, we characterise conjugate points in ideal sub-Riemannian manifolds in terms of the metric structure of the space. The proof uses the Hilbert invariant integral of the associated variational problem.
We study the singularities of the exponential map in semi Riemannian locally symmetric manifolds. Conjugate points along geodesics depend only on real negative eigenvalues of the curvature tensor, and their contribution to the Maslov index of the geodesic is computed explicitly. We prove that degeneracy of conjugate points, which is a phenomenon that can only occur in semi-Riemannian geometry, is caused in the locally symmetric case by the lack of diagonalizability of the curvature tensor. The case of Lie groups endowed with a bi-invariant metric is studied in some detail, and conditions are g…
There are three types of Dolbeault complexes arising from representations of holonomy group on a Riemannian manifold, two of which are dual to each other. Such a complex is elliptic if and only if its generator satisfies an algebraic condition. As applications, we give all Dolbeault complexes on a compact Riemannian manifold with exceptional holonomy. Each cohomology can be described by harmonic forms.
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 loci (i.e. classification of generic singularities of the exponential mapping) of a 1-parameter family of 3-d contact sub-Riemannian metrics associated to a 1-parameter family of Dido Riemannian problems.
The "dancing metric" is a pseudo-riemannian metric $\pmb{g}$ of signature $(2,2)$ on the space $M^4$ of non-incident point-line pairs in the real projective plane $\mathbb{RP}^2$. The null-curves of $(M^4,\pmb{g})$ are given by the "dancing condition": the point is moving towards a point on the line, about which the line is turning. We establish a dictionary between classical projective geometry (incidence, cross ratio, projective duality, projective invariants of plane curves...) and pseudo-riemannian 4-dimensional conformal geometry (null-curves and geodesics, parallel transport, self-dual n…
The systole of a compact non simply connected Riemannian manifold is the smallest length of a non-contractible closed curve ; the systolic ratio is the quotient $(\mathrm{systole})^n/\mathrm{volume}$. Its supremum on the set of all the riemannian metrics, is known to be finite for a large class of manifolds, including the $K(π,1)$. We study the optimal systolic ratio of compact, 3-dimensional non orientable Bieberbach manifolds, and prove that it cannot be realized by a flat metric.
In this paper we introduce a new type of exponential map in semi-simple compact Lie groups, which is related to the sub-Riemannian geometry generated by the orthogonal complement of a Cartan subalgebra in a similar way to how the group exponential map is related to the Riemannian geometry.
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…
A classic result by Gromov and Lawson states that a Riemannian metric of non--negative scalar curvature on the Torus must be flat. The analogous rigidity result for the standard sphere was shown by Llarull. Later Goette and Semmelmann generalized it to locally symmetric spaces of compact type and nontrivial Euler characteristic. In this paper we improve the results by Llarull and Goette, Semmelmann. In fact we show that if $(M,g_0)$ is a locally symmetric space of compact type with $χ(M)\neq 0$ and $g$ is a Riemannian metric on $M$ with $\mathrm{scal}_g\cdot g\geq \mathrm{scal}_0\cdot g_0$, th…
Normal distribution manifolds play essential roles in the theory of information geometry, so do holonomy groups in classification of Riemannian manifolds. After some necessary preliminaries on information geometry and holonomy groups, it is presented that the corresponding Riemannian holonomy group of the $d$-dimensional normal distribution is $SO\left(\frac{d\left(d+3\right)}{2}\right)$, for all $d\in\mathbb{N}$. As a generalization on exponential family, a list of holonomy groups follows.
Given a compact Lie group $G$ with Lie algebra $\mathfrak{g}$, we consider its tangent Lie group $TG\cong G\ltimes_{\mathrm{Ad}} \mathfrak{g}$. In this short note, we prove that $TG$ admits a left-invariant naturally reductive Riemannian metric $g$ and a metric connection with skew torsion $\nabla$ such that $(TG,g,\nabla)$ is naturally reductive. An alternative spinorial description of the same connection on the direct product $G\times \mathfrak{g}$ generalizes in a rather subtle way to $TS^7$, which is in many senses almost a tangent Lie group.
Our aim in this paper is to construct a numerical algorithm using Taylor expansion of exponential map to find geodesic joining two points on a 2-dimensional surface for which a Riemannian metric is defined
We prove that if the Ricci tensor $\mathrm{Ric}$ of a geodesically complete Riemannian manifold $M$, endowed with the Riemannian distance $\mathsf{d}$ and the Riemannian measure $\mathfrak{m}$, is bounded from below by a continuous function $k\colon M\to\mathbb{R}$ whose negative part $k^-$ satisfies, for every $t>0$, the exponential integrability condition \begin{equation*} \sup_{x\in M} \mathbb{E}\big[\mathrm{e}^{\int_0^t k^-(\mathsf{b}_r^x)/2\,\mathrm{d} r}\,1_{\{t < ζ^x\}}\big] < \infty, \end{equation*} then the lifetime $ζ^x$ of Brownian motion $\mathsf{b}^x$ on $M$ starting in any $x\in …
We have completely rewritten the paper, and corrected the proofs. We construct an exponential map at any point in the (n-1)-skeleton minus the (n-2)-skeleton of an n-dimensional Riemannian polyhedron. We have added allover the extra-assumption that the exponential map is totally geodesic at points in the (n-1)-skeleton minus the (n-2)-skeleton. This condition is automatically realized for instance if the dimension is one, or if the metric is flat.
We explore the perspective of a bug living on the two-dimensional surface of a polyhedron. Images of various kinds of effects like lensing and cloaking are shown via color pictures of three viewpoints: the first person perspective of the bug, a map of the bug's viewpoint, and a look at the bug on the embedded polyhedron from a three-dimensional exterior viewer. The pictures were constructed by computing the exponential map of a polyhedron by cutting and rotating faces into the tangent plane of the bug.
We prove that the Riemannian exponential map of the right-invariant $L^2$ metric on the group of volume-preserving diffeomorphisms of a two-dimensional manifold with a nonempty boundary is a nonlinear Fredholm map of index zero.
The aim of this article is to understand the geometry of limit sets in pseudo-Riemannian hyperbolic geometry. We focus on a class of subgroups of $\mathrm{PO}(p,q+1)$ introduced by Danciger, Guéritaud and Kassel, called $\mathbb{H}^{p,q}$-convex cocompact. We define a pseudo-Riemannian analogue of critical exponent and Hausdorff dimension of the limit set. We show that they are equal and bounded from above by the usual Hausdorff dimension of the limit set. We also prove a rigidity result in $\mathbb{H}^{2,1}=\mathrm{ADS}^3$ which can be understood as a Lorentzian version of a famous Theorem of…
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 extremal trajectories is studied via geometric control theory. The global diffeomorphic structure of the exponential mapping is described. As a consequence, the cut time is proved to be equal to the first Maxwell time corresponding to discrete symmetries of the exponential mapping.
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 radii and introduce a geometric invariant to show that the metric for contact distributions typically exhibits an original behavior, different from the classical 3-dimensional case. We apply these methods to the case of 5-dimensional contact manifolds. We provide a stability analy…
We extend an $L^2$ energy gap result due independently to Min-Oo and Parker (1982) for Yang-Mills connections on principal $G$-bundles, $P$, over closed, connected, four-dimensional, oriented, smooth manifolds, $X$, from the case of positive Riemannian metrics to the more general case of good Riemannian metrics, including metrics that are generic and where the topologies of $P$ and $X$ obey certain mild conditions and the compact Lie group, $G$, is $\mathrm{SU}(2)$ or $\mathrm{SO}(3)$.
In this paper we introduce the new notion of complex isoparametric functions on Riemannian manifolds. These are then employed to devise a general method for constructing proper $p$-harmonic functions. We then apply this to construct the first known explicit proper $p$-harmonic functions on the Lie group semidirect products $\mathbb{R}^m \ltimes \mathbb{R}^n$ and $\mathbb{R}^m \ltimes \mathrm{H}^{2n+1}$, where $\mathrm{H}^{2n+1}$ denotes the classical $(2n+1)$-dimensional Heisenberg group. In particular, we construct such examples on all the simply connected irreducible four-dimensional Lie gro…
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.
Denote by $\widetilde{\mathrm{U}}(p,q)$ the universal covering group of $\mathrm{U}(p,q)$, the linear group of isometries of the pseudo-Hermitian space $\mathbb{C}^{p,q}$ of signature $p,q$. Let $M$ be a connected analytic complete pseudo-Riemannian manifold that admits an isometric $\widetilde{\mathrm{U}}(p,q)$-action and that satisfies $\dim M \leq n(n+2)$ where $n = p+q$. We prove that if the action of $\widetilde{\mathrm{SU}}(p,q)$ (the connected derived group of $\widetilde{\mathrm{U}}(p,q)$) has a dense orbit and the center of $\widetilde{\mathrm{U}}(p,q)$ acts non-trivially, then $M$ is…
This paper uses Karcher's formulation [Kar99] of the O'Neill tensors [O'N66,Gra67] to derive a concise formula for the family $Ω^ε$ of curvature forms obtained by shrinking the fibers of a submersion $π:M\to B$ of semi-Riemannian manifolds by a factor of $1-ε$. The formula clearly shows that as $ε$ approaches 1, $Ω^ε$ approaches the sum of the vertical curvature form $Ω^\mathrm{V}$ and the pullback $π^*Ω^B$ of the curvature form of $B$. The Gauss-Bonnet integrand $\mathrm{Pf}(Ω^ε)$ therefore approaches the wedge $\mathrm{Pf}(Ω^\mathrm{V})\wedgeπ^*\mathrm{Pf}(Ω^B)$. So if $π$ has compact fiber …
Given a pseudo-Riemannian metric of regularity $C^{1,1}$ on a smooth manifold, we prove that the corresponding exponential map is a bi-Lipschitz homeomorphism locally around any point. We also establish the existence of totally normal neighborhoods in an appropriate sense. The proofs are based on regularization, combined with methods from comparison geometry.
In every point of a Kähler manifold there exist special holomorphic coordinates well adapted to the underlying geometry. Comparing these Kähler normal coordinates with the Riemannian normal coordinates defined via the exponential map we prove that their difference is a universal power series in the curvature tensor and its iterated covariant derivatives and devise an algorithm to calculate this power series to arbitrary order. As a byproduct we generalize Kähler normal coordinates to the class of complex affine manifolds with (1,1)-curvature tensor. Moreover we describe the Spencer connection …
Equivalence of convex optimization, saddle-point problems, and variational inequalities is a well-established concept. The variational inequality (VI) is a static problem which is studied under dynamical settings using a framework called the projected dynamical system, whose stationary points coincide with the static solutions of the associated VI. VI has rich properties concerning the monotonicity of its vector-valued map and the uniqueness of its solution, which can be extended to convex optimization and saddle-point problems. Moreover, these properties also extend to the representative proj…
