End-Point Equations and Regularity of Sub-Riemannian Geodesics |
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Authors: | Gian Paolo Leonardi Roberto Monti |
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Institution: | (1) Dipartimento di Matematica Pura ed Applicata, Università di Modena e Reggio Emilia, Via Campi, 213/b, 41100 Modena, Italy;(2) Dipartimento di Matematica Pura ed Applicata, Università di Padova, Via Trieste, 63, 35121 Padova, Italy |
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Abstract: | For a large class of equiregular sub-Riemannian manifolds, we show that length-minimizing curves have no corner-like singularities.
Our first result is the reduction of the problem to the homogeneous, rank-2 case, by means of a nilpotent approximation. We
also identify a suitable condition on the tangent Lie algebra implying existence of a horizontal basis of vector fields whose
coefficients depend only on the first two coordinates x
1, x
2. Then, we cut the corner and lift the new curve to a horizontal one, obtaining a decrease of length as well as a perturbation
of the end-point. In order to restore the end-point at a lower cost of length, we introduce a new iterative construction,
which represents the main contribution of the paper. We also apply our results to some examples.
Received: July 2006, Revision: October 2006, Accepted: November 2006 |
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Keywords: | and phrases:" target="_blank"> and phrases: Sub-Riemannian geodesics regularity of length minimizers nilpotent approximation |
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