We derive a formula for the first variation of horizontal perimeter measure for $C^2$ hypersurfaces of completely general sub-Riemannian manifolds, allowing for the existence of characteristic points. For $C^2$ hypersurfaces in vertically rigid sub-Riemannian manifolds we also produce a second variation formula for variations supported away from the characteristic locus. This variation formula is used to show the bubble sets in \hn{2} are stable under volume preserving variations.
We give a notion of BV function on an oriented manifold where a volume form and a family of lower semicontinuous quadratic forms $G_p: T_pM \to [0,\infty]$ are given. When we consider sub-Riemannian manifolds, our definition coincide with the one given in the more general context of metric measure spaces which are doubling and support a Poincaré inequality. We then focus on finite perimeter sets, i.e., sets whose characteristic function is BV, in sub-Riemannian manifolds. Under an assumption on the nilpotent approximation, we prove a blowup theorem, generalizing the one obtained for step-2 Car…
This work is an investigation of perimeter measures in the metric measure space given by the Heisenberg group with Haar measure and a Carnot-Carathéodory metric, which is in general a sub-Finsler metric. Included is a reduction of Minkowski content in any CC-metric to an integral formula in terms of Lebesgue surface area in $\mathbb{R}^3$. Using this result, I study two perimeter measures that arise from the study of Finsler normed planes, and provide evidence that Pansu's conjecture regarding the isoperimetric problem in the sub-Riemannian case appears to hold in the more general sub-Finsler …
In this paper we consider surfaces of class $C^1$ with continuous prescribed mean curvature in a three-dimensional contact sub-Riemannian manifold and prove that their characteristic curves are of class $C^2$. This regularity result also holds for critical points of the sub-Riemannian perimeter under a volume constraint. All results are valid in the first Heisenberg group $\mathbb{H}^1$.
This paper contributes to the study of sets of finite intrinsic perimeter in Carnot groups. Our intent is to characterize in which groups the only sets with constant intrinsic normal are the vertical half-spaces. Our viewpoint is algebraic: such a phenomenon happens if and only if the semigroup generated by each horizontal half-space is a vertical half-space. We call \emph{semigenerated} those Carnot groups with this property. For Carnot groups of nilpotency step 3 we provide a complete characterization of semigeneration in terms of whether such groups do not have any Engel-type quotients. Eng…
In a Riemannian manifold with a smooth positive function that weights the associated Hausdorff measures we study stable sets, i.e., second order minima of the weighted perimeter under variations preserving the weighted volume. By assuming local convexity of the boundary and certain behaviour of the Bakry-Émery-Ricci tensor we deduce rigidity properties for stable sets by using deformations constructed from parallel vector fields tangent to the boundary. As a consequence, we completely classify the stable sets in some Riemannian cylinders $Ω\times\mathbb{R}$ with product weights. Finally, we al…
We prove existence of regions minimizing perimeter under a volume constraint in contact sub-Riemannian manifolds such that their quotient by the group of contact transformations preserving the sub-Riemannian metric is compact.
We consider surfaces of class $C^1$ in the $3$-dimensional sub-Riemannian Heisenberg group ${\mathbb H}^1$. Assuming the surface is area-stationary, i.e., a critical point of the sub-Riemannian perimeter under compactly supported variations, we show that its regular part is foliated by horizontal straight lines. In case the surface is complete and oriented, without singular points, and stable, i.e., a second order minimum of perimeter, we prove that the surface must be a vertical plane. This implies the following Bernstein type result: a complete locally area-minimizing intrinsic graph of a $C…
In this paper we prove the existence of isoperimetric regions of any volume in Riemannian manifolds with Ricci bounded below assuming Gromov--Hausdorff asymptoticity to the suitable simply connected model of constant sectional curvature. The previous result is a consequence of a general structure theorem for perimeter-minimizing sequences of sets of fixed volume on noncollapsed Riemannian manifolds with a lower bound on the Ricci curvature. We show that, without assuming any further hypotheses on the asymptotic geometry, all the mass and the perimeter lost at infinity, if any, are recovered by…
Let $\GG$ be a sub-Riemannian $k$-step Carnot group of homogeneous dimension $Q$. In this paper, we shall prove several geometric inequalities concerning smooth hypersurfaces (i.e. codimension one submanifolds) immersed in $\GG$, endowed with the $\HH$-perimeter measure.
We show that in the first sub-Riemannian Heisenberg group there are intrinsic graphs of smooth functions that are both critical and stable points of the sub-Riemannian perimeter under compactly supported variations of contact diffeomorphisms, despite the fact that they are not area-minimizing surfaces. In particular, we show that if $f:\mathbb{R}^2\rightarrow\mathbb{R}$ is a $C^1$-intrinsic function, and $\nabla^f\nabla^ff=0$, then the first contact variation of the sub-Riemannian area of its intrinsic graph is zero and the second contact variation is positive.
We address the problem of integrability of the sub-Riemannian mean curvature of an embedded hypersurface around isolated characteristic points. The main contribution of this note is the introduction of a concept of mildly degenerate characteristic point for a smooth surface of the Heisenberg group, in a neighborhood of which the sub-Riemannian mean curvature is integrable (with respect to the perimeter measure induced by the Euclidean structure). As a consequence we partially answer to a question posed by Danielli-Garofalo-Nhieu in [Danielli D., Garofalo N., Nhieu D.M., Proc. Amer. Math. Soc.,…
We prove some stability results for smooth H-minimal hypersurfaces immersed in a sub-Riemannian k-step Carnot group G. The main tools are the formulas for the 1st and 2nd variation of the H-perimeter measure.
The equitangent locus of a convex plane curve consists of the points from which the two tangent segments to the curve have equal length. The equitangent problem concerns the relation between the curve and its equitangent locus. An equitangent n-gon of a convex curve is a circumscribed n-gon whose vertices belong to the equitangent locus. We are interested in curves that admit 1-parameter families of equitangent n-gons. We use methods of sub-Riemannian geometry: we define a distribution on the space of polygons and study its bracket generating properties. 1-parameter families of equitangent pol…
The notion of strictly outward minimising hull is investigated for open sets of finite perimeter sitting inside a complete noncompact Riemannian manifold. Under natural geometric assumptions on the ambient manifold, the strictly outward minimising hull $Ω^*$ of a set $Ω$ is characterised as a maximal volume solution of the least area problem with obstacle, where the obstacle is the set itself. In the case where $Ω$ has $\mathscr{C}^{1, α}$-boundary, the area of $\partial Ω^*$ is recovered as the limit of the $p$-capacities of $Ω$, as $p \to 1^+$. Finally, building on the existence of strictly …
We analyze subsets of Carnot groups that have intrinsic constant normal, as they appear in the blowup study of sets that have finite sub-Riemannian perimeter. The purpose of this paper is threefold. First, we prove some mild regularity and structural results in arbitrary Carnot groups. Namely, we show that for every constant-normal set in a Carnot group its sub-Riemannian-Lebesgue representative is regularly open, contractible, and its topological boundary coincides with the reduced boundary and with the measure-theoretic boundary. We infer these properties from a cone property. Such a cone wi…
The authors first in this paper define a semi-symmetric metric non-holonomic connection (called in briefly a semi-sub-Riemannian connection) on sub-Riemannian manifolds, and study the relations between sub-Riemannian connections and semi-sub-Riemannian connections. An invariant under a connection transformation $\nabla\rightarrow D$ is obtained. The authors then further deduce a sufficient and necessary condition that a sub-Riemannian manifold associated with a semi-sub-Riemannian connection is flat, and derive that a sub-Riemannian manifold with vanishing curvature with respect to semi-sub-Ri…
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.
The authors define a SNS (semi-nearly-sub)-Riemannian connection on nearly sub-Riemannian manifolds and study the geometric properties of such a connection, and obtain the natures of horizontal curvature tensors between horizontal sub-Riemannian connection and SNS-Riemannian connection. The authors further investigate the geometric characteristics of the projective SNS-Riemannian connection, and obtain a necessary and sufficient condition for a nearly sub-Riemannian manifold being projectively flat.
Sub-Riemannian cubics are a generalisation of Riemannian cubics to a sub-Riemannian manifold. Cubics are curves which minimise the integral of the norm squared of the covariant acceleration. Sub-Riemannian cubics are cubics which are restricted to move in a horizontal subspace of the tangent space. When the sub-Riemannian manifold is also a Lie group, sub-Riemannian cubics correspond to what we call a sub-Riemannian Lie quadratic in the Lie algebra. The present article studies sub-Riemannian Lie quadratics in the case of $\mathfrak{su}(2)$, focusing on the long term dynamics.
We study some sub-Riemannian objects (such as horizontal connectivity, horizontal connection, horizontal tangent plane, horizontal mean curvature) in hypersurfaces of sub-Riemannian manifolds. We prove that if a connected hypersurface in a contact manifold of dimension more than three is noncharacteristic or with isolated characteristic points, then given two points, there exists at least one piecewise smooth horizontal curve in this hypersurface connecting them. In any sub-Riemannian manifold, we obtain the sub-Riemannian version of the fundamental theorem of Riemannian geometry. We use this …
In this paper, we study biharmonic Riemannian submersions. We first derive bitension field of a general Riemannian submersion, we then use it to obtain biharmonic equations for Riemannian submersions with $1$-dimensional fibers and Riemannian submersions with basic mean curvature vector fields of fibers. These are used to construct examples of proper biharmonic Riemannian submersions with $1$-dimensional fibers and to characterize warped products whose projections onto the first factor are biharmonic Riemannian submersions.
In this note we address a notion of sublaplacians of sub-Riemannian manifolds. In particular for fat sub-Riemannian manifolds we answered the sublaplacian question proposed by R. Montgomery.
In this paper, we derived biharmonic equations for pseudo-Riemannian submanifolds of pseudo-Riemannian manifolds which includes the biharmonic equations for submanifolds of Riemannian manifolds as a special case. As applications, we proved that a pseudo-umbilical biharmonic pseudo-Riemannian submanifold of a pseudo-Riemannian manifold has constant mean curvature, we completed the classifications of biharmonic pseudo-Riemannian hypersurfaces with at most two distinct principal curvatures, which were used to give four construction methods to produce proper biharmonic pseudo-Riemannian submanifol…
We study generic Riemannian submersions from nearly Kaehler manifolds onto Riemannian manifolds. We investigate conditions for the integrability of various distributions arising for generic Riemannian submersions and also obtain conditions for leaves to be totally geodesic foliations. We obtain conditions for a generic Riemannian submersion to be a totally geodesic map and also study generic Riemannian submersions with totally umbilical fibers. Finally, we derive conditions for generic Riemannian submersions to be harmonic map.
In those lecture notes, we review some applications of heat semigroups methods in Riemannian and sub-Riemannian geometry. The notes contain parts of courses taught at Purdue University, Institut Henri Poincaré, Levico Summer School and Tata Institute.
We give a generalized curvature-dimension inequality connecting the geometry of sub-Riemannian manifolds with the properties of its sub-Laplacian. This inequality is valid on a large class of sub-Riemannian manifolds obtained from Riemannian foliations. We give a geometric interpretation of the invariants involved in the inequality. Using this inequality, we obtain a lower bound for the eigenvalues of the sub-Laplacian. This inequality also lays the foundation for proving several powerful results in Part~II.
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. Under the assumption that the target Riemannian manifold has non-positive sectional curvature, we prove some Eells-Sampson type existence results for this flow when the source manifold is either a step-2 sub-Riemannian manifold or a step-r sub-Riemannian manifold whose sub…
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.…
B. Sahin [9] introduced the notion of anti-invariant Riemannian submersions from almost Hermitian manifolds onto Riemannian manifolds. In the present paper we extend the notion of anti-invariant and Lagrangian Riemannian submersions (a special anti-invariant Riemannian submersion) to the case of locally conformal Kaehler manifolds. We discuss the geometry of foliation and obtain some decomposition theorems for the total manifold of such submersions.
In this paper, we define and study CR-lightlike submanifolds of a golden semi-Riemannian manifold. We investigate some properties of geodesic CR-submanifolds of a golden semi-Riemannian manifold. Moreover, we obtain many interesting results for totally geodesic and totally umbilical CR-submanifolds on a golden Riemannian manifold. A non-trivial example of CR-lightlike submanifold of a golden semi-Riemannian manifold is also constructed.
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 introduce anti-invariant Riemannian submersions from Sasakian manifolds onto Riemannian manifolds. We survey main results of anti-invariant Riemannian submersions defined on Sasakian manifolds. We investigate necessary and sufficient condition for an anti-invariant Riemannian submersion to be totally geodesic and harmonic. We give examples of anti-invariant submersions such that characteristic vector field ξ is vertical or horizontal.
We introduce anti-invariant Riemannian submersions from cosymplectic manifolds onto Riemannian manifolds. We survey main results of anti-invariant Riemannian submersions defined on cosymplectic manifolds. We investigate necessary and sufficient condition for an anti-invariant Riemannian submersion to be totally geodesic and harmonic. We give examples of anti-invariant submersions such that characteristic vector field ξ is vertical or horizontal. Moreover we give decomposition theorems by using the existence of anti-invariant Riemannian submersions.
We introduce bi-slant $ξ^{\perp}$-Riemannian submersions from Sasakian manifolds onto Riemannian manifolds as a generalization of slant and semi-slant $ξ^{\perp}$-Riemannian submersion. We give an example and investigate the geometry foliations. After we obtain necessary and sufficient conditions related to totally geodesicness of submersion. Finally we give decomposition theorems for total manifold of such submersions.
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 many singular minimizing geodesics. We treat here the case of sub-Riemannian structures of rank two in dimension four.
In this letter we exhibit the relation between the isometries of a Riemannian contraction of a sub-Riemannian manifold and those of the sub-Riemannian metric, for to use this relation with two goals: establishing a result about the existence of fixed points of isometries groups; and the other, defining a Multiresolution Analysis (MRA) on sub-Riemannian manifolds that it will permit to obtain Haar's bases on the manifolds before mentioned. Keywords: Sub-Riemannian geometry, minimizing geodesic, Haar functions, self-similarity.
In this paper, we study slant submanifolds of Riemannian manifolds with Golden structure. A Riemannian manifold $(\tilde{M},\tilde{g},φ)$ is called a Golden Riemannian manifold if the $(1,1)$ tensor field $φ$ on $\tilde{M}$ is a golden structure, that is $φ^{2}=φ+I$ and the metric $\tilde{g}$ is $φ-$ compatible. First, we get some new results for submanifolds of a Riemannian manifold with Golden structure. Later we characterize slant submanifolds of a Riemannian manifold with Golden structure and provide some non-trivial examples of slant submanifolds of Golden Riemannian manifolds.
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.
We introduce slant Riemannian submersions from Sasakian manifolds onto Riemannian manifolds. We survey main results of slant Riemannian submersions defined on Sasakian manifolds. We also give an example of such slant submersions.
The aim of the present paper to define and study semi-slant $ξ^\perp-$Riemannian submersions from Sasakian manifolds onto Riemannian manifolds as a generalization of anti-invariant $ξ^\perp-$Riemannian submersions, semi-invariant $ξ^\perp-$Riemannian submersions and slant Riemannian submersions. We obtain characterizations, investigate the geometry of foliations which arise from the definition of this new submersion. After we investigate the geometry of foliations, we obtain necessary and sufficient condition for base manifold to be a locally product manifold and proving new conditions to be t…
We classify the semi-Riemannian submersions from a pseudo-hyperbolic space onto a Riemannian manifold under the assumption that the fibres are connected and totally geodesic. Also we obtain the classification of the semi-Riemannian submersions from a complex pseudo-hyperbolic space onto a Riemannian manifold under the assumption that the fibres are complex, connected and totally geodesic submanifolds.
In this research article, we establish the geometrical bearing on Riemannian submersions in terms of $η$-Ricci-Yamabe Soliton with the potential field and giving the classification of any fiber of Riemannian submersion is an $η$-Ricci-Yamabe soliton, $η$-Ricci soliton and $η$-Yamabe soliton. We also discuss the various conditions for which the target manifold of Riemannian submersion is an $η$-Ricci-Yamabe soliton, $η$-Ricci soliton, $η$-Yamabe soliton and quasi-Yamabe soliton. In a particular case when the potential filed $V$ of the $η$-Ricci-Yamabe soliton is of gradient type, we derive a La…
We determine the lengths of all closed sub-Riemannian geodesics on the three-sphere. Our methods are elementary and allow us to avoid using explicit formulas for the sub-Riemannian geodesics.
The purpose of this paper is to study anti-invariant Riemannian submersions from Kenmotsu manifolds onto Riemannian manifolds. Several fundamental results in this respect are proved. The integrability of the distributions and the geometry of foliations are investigated. We proved that there do not exist (anti-invariant) Riemannian submersions from Kenmotsu manifolds onto Riemannian manifolds such that characteristic vector field ξ is a vertical vector field. We gave a method to get horizontally conformal submersion examples from warped product manifolds onto Riemannian manifolds. Furthermore, …
