Gauss-Bonnet theorem in sub-Riemannian Heisenberg space \(\mathbb H^1\) (Q334636)

Let \(\mathbb{H}^1\) be the \(3\)-dimensional real Heisenberg group with its standard sub-Riemannian structure, with \(D \subset T \mathbb{H}^1\) denoting the horizontal distribution. Let \(S \subset \mathbb{H}^1\) be a surface. For a point \(p\) at which \(S\) is transverse to \(D\) (that is, \(T_p S \neq D_p\)), the authors define a notion of sub-Riemannian Gaussian curvature \(K(p)\) of \(S\) at \(p\), based on defining an appropriate sub-Riemannian Gauss map and considering how it infinitesimally distorts surface area. They also define a notion of curvature \(k\) for a smooth curve \(\gamma\) which is transverse to \(D\), and a notion of exterior corner area \(ca\) for a piecewise smooth curve (analogous to corner angle). The main result is that these curvature notions satisfy a Gauss-Bonnet theorem. Suppose \(U \subset S\) is a region contained in a coordinate domain of \(S\), such that \(S\) is transverse to \(D\) at every point of \(U\). Suppose the bounding curve \(\gamma\) of \(U\) is simple, closed and transverse. Then \[ \int_\gamma k + \sum_{\gamma} ca + \int_U K = 0. \] Moreover, if \(S\) is compact (without boundary) and oriented, and transverse to \(D\) at every point, the authors show that \(\int_S K = 0\).