Shortest and straightest geodesics in sub-Riemannian geometry (Q778977)

This paper investigates the analogies for the equivalent definitions of geodesics in a sub-Riemannian manifold: geodesics as shortest curves and geodesics as straightest curves. The author gives an overview of different approaches to the definition, studies the generalization of sub-Riemannian geodesics and discusses interrelations between the different definitions. For a Chaplygin transversally homogeneous sub-Riemannian manifold \(Q\), he proves that the straightest geodesics (defined as geodesics of the Schouten partial connection) coincide with the shortest geodesics (defined as the projection to \(Q\) of integral curves (with trivial initial covector) of the sub-Riemannian Hamiltonian system). This gives a Hamiltonization of Chaplygin systems in non-holonomic mechanics. The author considers a class of homogeneous sub-Riemannian manifolds, where straightest geodesics coincide with shortest geodesics, and gives a description of all sub-Riemannian symmetric spaces in terms of affine symmetric spaces.