Rigid and abnormal line subdistributions of \(2\)-distributions (Q1972686)

Let \(M\) be a smooth real manifold. A sub-Riemannian metric on \(M\) is defined by a smooth bracket generating distribution \(E\) on \(M\), \(E \subset TM\), and a smooth Riemannian metric on \(E\). The article under review analyses sub-Riemannian minimization problems on line distributions \(E\) as subbundles of rank two distributions. The context is the following: standard variational methods of Riemannian geometry do not solve in general the sub-Riemannian minimization problem [\textit{R. Montgomery}, Geodesics which do not satisfy the geodesic equation, Preprint 1991, and Birkhäuser Prog. Math. 144, 325-339 (1996; Zbl 0868.53020)]. A fairly complete description of locally minimum arcs of such metrics in the case that \(E\) is two dimensional and satisfies some mild regularity conditions is given in [\textit{W. Liu} and \textit{H. J. Sussman}, Mem. Am. Math. Soc. 564 (1994; Zbl 0843.53038)]. There are also calculus of variation [\textit{L. Hsu}, J. Differ. Geom. 36, 551-589 (1992; Zbl 0768.49014) and \textit{G. Bliss}, ``Lectures on the calculus of variations'' (1947; Zbl 0036.34401; and 1946; Zbl 0063.00459)] and exterior differential algebra methods for sub-Riemannian metrics [\textit{R. L. Bryant, S. S. Chern, R. Gardner, H. Goldschmidt}, and \textit{P. A. Griffiths}, Publications, Mathematical Sciences Research Institute 18 (1991; Zbl 0726.58002)]. Rigid curves are defined as the isolated points in the space of curves \(C_E(a,b)\) joining two points \(a\) and \(b\) with respect to the \(C^1\) topology. Abnormal curves \(\gamma\) are such that it is impossible to define in a natural way the tangent space \(T_\gamma C_E(a,b)\). Abnormal problems as degenerate problems are studied by \textit{A. V. Arutyunov} [``Extremum conditions. Abnormal and degenerate problems''. Mathematika Prilozheniya (1997; Zbl 0953.49001)]. The author studies in this article the `inner' geometry of rigid and abnormal line subdistributions. It is self contained, and contains a good bibliography. It can be used as a good updated reference on sub-Riemannian manifolds.