Levy's stochastic area formula in higher dimensions

Let (W_t) = (W¹_t,W²_t,…,W^d_t), d ? 2, be a d-dimensional standard Brownian motion and let A(t) be a bounded measurable function from $\text{R}$⁺ into the space of d × d skew-symmetric matrices and x(t) such a function into $\text{R}$^d. A class of stochastic processes (L_t^A,x), a particular example of which is Levy's “stochastic area” $\text{L}{}_{\mathrm{t}}\text{=}\text{1}\text{2}\text{∝}{}_0{}^{\mathrm{?t}}\text{(W}{}^1{}_{\mathrm{s}}\text{,dW}{}^2{}_{\mathrm{s}}\text{? W}{}^2{}_{\mathrm{s}}\text{,dW}{}^1{}_{\mathrm{s}}\text{)}$, is dealt with.The joint characteristic function of W_t and L₁^A,x is calculated and based on this result a formula for fundamental solutions for the hypoelliptic operators which generate the diffusions (W_t,L_t^A,x) is given.