Quasi-contact S-R metrics: Normal form in R^2n, wave front and caustic in R^4

DOI10.1023/A:1021199303685MaRDI QIDQ1862264zbMATH OpenOpenAlexFDO

Authors Gregoire Charlot

Publication date 11 March 2003

Published in Acta Applicandae Mathematicae (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1021199303685

zbMATH Keywords

Lagrangian singularitiesoptimal controlsub-Riemannian geometry

Mathematics Subject Classification ID

Sub-Riemannian geometry (53C17) Normal forms on manifolds (58K50)

Review text

A quasi-contact structure on a \((2n+2)\)-manifold \(M\) is a sub-bundle \(D\) of the tangent bundle, of codimension 1, such that if \(D\) is the kernel of a 1-form \(\omega\), then the kernel of \(d\omega\) restricted to \(D\) has dimension 1. A quasi-constant sub-Riemannian metric on \(M\) is a couple \((D,g)\), where \(g\) is a nondegenerate Riemannian metric on \(D\). By analogy with [\textit{A. Agrachev, E. C. El Alaoui, J.-P. Gauthier} and \textit{I. Krupka}, C. R. Acad. Sci., Paris, Sér. I 322, 377-384 (1996; Zbl 0843.53025), \textit{A. Agrachev, G. Charlot} and \textit{V. Zakalyukin}, Dyn. Control Syst. 6, 365-395 (2000), \textit{A. Agrachev, G. Stefani} and \textit{P. Zezza}, Proc. Symp. Pure Math. 64, 1-11 (1999; Zbl 0937.49012) or \textit{A. Agrachev} and \textit{J.-P. Gauthier}, J. Math. Sci. 103, 639-663 (2001; Zbl 1008.53019)] which deal with any odd dimension, the present paper constructs the same type of normal coordinates, normal frame and classical invariant tensors in the quasi-contact case in any even dimension. Local singularities of the exponential map are studied in dimension~4.

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Cited in

(11)

• On the codimension one motion planning problem
• On the one-step-Bracket-Generating motion planning problem
• Local contact sub-Finslerian geometry for maximum norms in dimension 3
• Intrinsic random walks and sub-Laplacians in sub-Riemannian geometry
• Entropy estimations for motion planning problems in robotics
• Local (sub)-Finslerian geometry for the maximum norms in dimension 2
• scientific article; zbMATH DE number 2017795 (Why is no real title available?)
• Short geodesics losing optimality in contact sub-Riemannian manifolds and stability of the 5-dimensional caustic
• On complexity and motion planning for co-rank one sub-Riemannian metrics
• Intrinsic sub-Laplacian for hypersurface in a contact sub-Riemannian manifold
• On the motion planning problem, complexity, entropy, and nonholonomic interpolation

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