Regularity and continuity properties of the sub-Riemannian exponential map

DOI10.1007/S10883-022-09624-YMaRDI QIDQ6186673zbMATH OpenFDO

Authors Samuël Borza, Wilhelm Klingenberg

Publication date 9 January 2024

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2106.11350

zbMATH Keywords

conjugate pointsmetric geometrysub-Riemannian geometry

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Other connections (53B15) Sub-Riemannian geometry (53C17)

Abstract: We prove a version of Warner's regularity and continuity properties for the sub-Riemannian exponential map. The regularity property is established by considering sub-Riemannian Jacobi fields while the continuity property follows from studying the Maslov index of Jacobi curves. We finally show how this implies that the exponential map of the three dimensional Heisenberg group is not injective in any neighbourhood of a conjugate vector.

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Cited in

(3)

• Local non-injectivity of the exponential map at critical points in sub-Riemannian geometry
• Normal forms for the sub-Riemannian exponential map of \(\mathbb{G}_\alpha\), \(\mathrm{SU}(2)\), and \(\mathrm{SL}(2)\)
• On the focal locus of submanifolds of a Finsler manifold

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