Random motions in $\mathbb{R}^3$ with orthogonal directions

This paper is devoted to the detailed analysis of three-dimensional motions in $\mathbb{R}^3$ with orthogonal directions switching at Poisson times and moving with constant speed $c>0$. The study of the random position at an arbitrary time $t>0$ on the surface of the support, forming an octahedron $S_{ct}$, is completely carried out on the edges $E_{ct}$ and faces $F_{ct}$. In particular, the motion on the faces $F_{ct}$ is analysed by means of a transformation which reduces it to a three-directions planar random motion. This permits us to obtain an integral representation on $F_{ct}$ in terms of integral of products of first order Bessel functions. The investigation of the distribution of the position $p=p(t,x,y,z)$ inside $S_{ct}$ implied the derivation of a sixth-order partial differential equation governing $p$ (expressed in terms of the products of three D'Alembert operators). A number of results, also in explicit form, concern the time spent on each direction and the position reached by each coordinates as the motion devolpes. The analysis is carried out when the incoming direction is orthogonal to the ongoing one and also when all directions can be uniformely choosen at each Poisson event. If the switches are governed by homogeneus Poisson process many explicit results are obtained.