Modified action and differential operators on the 3-D sub-Riemannian sphere (Q2431508)

In this interesting paper, the authors deduce a geometrically meaningful formula for the Green function for a second order hypoelliptic differential operator and the heat kernel associated with this operator in the sub-Riemannian geometry on the unit sphere \(\mathbb{S}^3\). The method is based on the Hamiltonian-Jacobi approach, where the Hamiltonian system is solved with mixed boundary conditions. A closed form of the modified action is given. Also, the connection with optimal control is presented.