Horizontal curvatures of surfaces in 3D contact sub-Riemannian Lie groups

In this paper we study horizontal curvatures for surfaces embedded in three-dimensional contact sub-Riemannian Lie groups. Using a Riemannian approximation scheme, we derive explicit formulas for horizontal Gauss curvature, horizontal mean curvature, and symplectic distortion for surfaces embedded in three dimensional Lie groups with a sub-Riemannian structure obtained by a contact form. We focus on two primary examples: the Heisenberg group and the affine-additive group. We classify surfaces of revolution within these groups that exhibit constant horizontal curvatures, often expressing their profiles through elementary or elliptic integrals.