On sub-Riemannian geodesic curvature in dimension three

TL;DR

This paper introduces a notion of geodesic curvature for horizontal curves in three-dimensional contact sub-Riemannian manifolds and shows its role as a correction term in the asymptotic expansion of the sub-Riemannian distance, generalizing known results from the Heisenberg group.

Contribution

It defines a new concept of geodesic curvature in 3D contact sub-Riemannian geometry and demonstrates its significance in the asymptotic behavior of the sub-Riemannian distance.

Findings

Geodesic curvature appears as the first correction term in the distance expansion.

The sub-Riemannian distance exhibits higher-order differentiability properties.

Results generalize previous findings from the Heisenberg group.

Abstract

We introduce a notion of geodesic curvature $k_{\zeta}$ for a smooth horizontal curve $\zeta$ in a three-dimensional contact sub-Riemannian manifold, measuring how much a horizontal curve is far from being a geodesic. We show that the geodesic curvature appears as the first corrective term in the Taylor expansion of the sub-Riemannian distance between two points on a unit speed horizontal curve $$ d_{SR}^2( \zeta(t),\zeta(t+\epsilon))=\epsilon^2-\frac{k_{\zeta}^2(t)}{720} \epsilon^6 +o(\epsilon^{6}). $$ The sub-Riemannian distance is not smooth on the diagonal, hence the result contains the existence of such an asymptotics. This can be seen as a higher-order differentiability property of the sub-Riemannian distance along smooth horizontal curves. It generalizes the previously known results on the Heisenberg group.