Rotation surfaces of constant Gaussian curvature and mean curvature in sub-Riemannian Heisenberg space \(\mathbb H^1\) (Q2159383)

\(\mathbb{H}^1\) is the Heisenberg nilpotent Lie group \((\mathbb{R}^3, \mu)\), where \[ \mu( (x_1, y_1, z_1), (x_2, y_2, z_2) ) = ( x_1 + x_2, y_1 + y_2, z_1 + z_2 + \frac{1}{2}(x_1 y_2 - x_2 y_1)). \] The vector fields \[ e_1 = \partial_x - \frac{1}{2} y \partial_y,\quad e_2 = \partial_x + \frac{1}{2} x \partial_z,\quad e_3 = \partial_z \] are left invariant and form a basis of the Lie algebra of \(\mathbb{H}^1\) such that \([e_1, e_2] = e_3\), \([e_3, e_1] = 0\), \([e_3, e_2] = 0\). The Heisenberg sub-Riemannian space is \(\mathbb{H}^1\) with the two-dimensional distribution \(D\) spanned by \(e_1\) and \(e_2\), and endowed with a metric \(\langle\ , \rangle\) such that \(\{e_1, e_2\}\) is an orthonormal basis. In [\textit{M. M. Diniz} and \textit{J. M. M. Veloso}, J. Dyn. Control Syst. 22, No. 4, 807--820 (2016; Zbl 1362.53040); \textit{M. M. Diniz} et al., J. Dyn. Control Syst. 23, No. 3, 509--533 (2017; Zbl 1382.49049)] the Gaussian curvature and the mean curvature for surfaces \(\Sigma\) of the Heisenberg sub-Riemannian space \(\mathbb{H}^1\) such that \(T_p\Sigma \ne D_p\) for all \(p \in \Sigma\) were defined. In the present paper the author classifies rotation surfaces in \(\mathbb{H}^1\) of constant Gaussian curvature, and rotation surfaces of constant mean curvature.