On a certain sub-Riemannian geodesic flow on the Heisenberg group (Q1745076)

The paper under review deals with an integrable geodesic flow of a left-invariant sub-Riemannian metric for a right-invariant distribution on the Heisenberg group. The authors obtain the classification of the trajectories of this flow. The main results are Theorems 3 and 4 from Section 3. Their proofs are given in Sections 4 and 5. Examples of trajectories which correspond to various values of the first integrals are given; they are obtained by numerical integration of the Hamiltonian equations. It is shown that for some values of the first integrals one obtains explicit formulae for geodesics by inverting the corresponding Legendre elliptic integrals. Figures are drawn.