Gauss-Bonnet theorems in the affine group and the group of rigid motions of the Minkowski plane (Q2238498)

Suppose \(\mathbb{G}\) is the affine group \((0,\infty)\times \mathbb{R}^2\) with the non-commutative group law defined by \[(a,b,c)\ast(x,y,z)=(ax,ay+b,z+c).\] A surface \(\Sigma\in (\mathbb{G},g)\) is called regular if \(\Sigma\) is a Euclidean \(C^2\)-smooth compact and oriented. The geodesic curvature \(\kappa_{\gamma,\Sigma}^{L}\), intrinsic geodesic curvature \(\kappa_{\gamma,\Sigma}^{\infty}\) and signed geodesic curvature \(\kappa_{\gamma,\Sigma}^{L,s}\) were defined for a Euclidean \(C^2\)-smooth regular curve \(\gamma\). This paper provides results of computations on those curvatures including the second fundamental form of the embedding of \(\Sigma\) to \(\mathbb{G}\). With these results available, the authors prove the Gauss-Bonnet Theorem in the affine group in Chapter 4. Similar calculations were made for a regular surface in the Minkowski plane \(E(1,1)\) providing the sub-Riemannian limits of geodesic curvature of curves and the Riemannian Gaussian curvature of surfaces in the group of rigid motions of \(E(1,1)\). At the end of the paper, they also provide the Gauss-Bonnet theorem for such a case.