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We study curvature invariants of a sub-Riemannian manifold (i.e., a manifold with a Riemannian metric on a non-holonomic distribution) related to mutual curvature of several pairwise orthogonal subspaces of the distribution, and prove…

This paper starts by introducing results from geometric measure theory to prove symmetric decreasing rearrangement inequalities on $\mathbb{R}^n$, which give multiple proofs of the isoperimetric and P\'{o}lya-Szeg\H{o} inequalities. Then we…

This paper is the third in a series dedicated to the fundamentals of sub-Riemannian geometry and its implications in Lie groups theory: "Sub-Riemannian geometry and Lie groups. Part I", math.MG/0210189, available at…

We study minimal surfaces in generic sub-Riemannian manifolds with sub-Riemannian structures of co-rank one. These surfaces can be defined as the critical points of the so-called {\it horizontal} area functional associated to the canonical…

These notes give an introduction to the equivalence problem of sub-Riemannian manifolds. We first introduce preliminaries in terms of connections, frame bundles and sub-Riemannian geometry. Then we arrive to the main aim of these notes,…

We study some sub-Riemannian objects (such as horizontal connectivity, horizontal connection, horizontal tangent plane, horizontal mean curvature) in hypersurfaces of sub-Riemannian manifolds. We prove that if a connected hypersurface in a…

We consider Lie groups equipped with arbitrary distances. We only assume that the distance is left-invariant and induces the manifold topology. For brevity, we call such object metric Lie groups. Apart from Riemannian Lie groups,…

There is a well developed theory of weakly symmetric Riemannian manifolds. Here it is shown that several results in the Riemannian case are also valid for weakly symmetric pseudo-Riemannian manifolds, but some require additional hypotheses.…

In this paper, we address several interconnected problems in the theory of harmonic maps between Riemannian manifolds. First, we present necessary background and establish one of the main results of the paper: a criterion characterizing…

We generalize the concept of sub-Riemannian geometry to infinite-dimensional manifolds modeled on convenient vector spaces. On a sub-Riemannian manifold $M$, the metric is defined only on a sub-bundle $\calH$ of the tangent bundle $TM$,…

In this paper we investigate the relationship between the existence of parallel semi-Riemannian metrics of a connection and the reducibility of the associated holonomy group. The question as to whether the holonomy group necessarily reduces…

Modern machine learning increasingly leverages the insight that high-dimensional data often lie near low-dimensional, non-linear manifolds, an idea known as the manifold hypothesis. By explicitly modeling the geometric structure of data…

We show that the group of isometries (i.e., distance-preserving homeomorphisms) of an equiregular subRiemannian manifold is a finite-dimensional Lie group of smooth transformations. The proof is based on a new PDE argument, in the spirit of…

This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion in the case of Lie groups endowed with a left-invariant metric, and on Lie…

Riemannian geometry provides the fundamental framework for optimization on nonlinear spaces such as matrix manifolds, which arise in machine learning, signal processing, and robotics. While the underlying theory is classical, existing…

The authors first in this paper define a semi-symmetric metric non-holonomic connection (called in briefly a semi-sub-Riemannian connection) on sub-Riemannian manifolds, and study the relations between sub-Riemannian connections and…

We show that the group of smooth isometries of a complemented sub-Riemannian manifold form a Lie group and establish dimension estimates based on the torsion of the canonical connection. We explore the interaction of curvature and the…

Riemannian optimization is concerned with problems, where the independent variable lies on a smooth manifold. There is a number of problems from numerical linear algebra that fall into this category, where the manifold is usually specified…

This work deals with the structure of the isometry group of pseudo-Riemannian 2-step nilmanifolds. We study the action by isometries of several groups and we construct examples showing substantial differences with the Riemannain situation;…

In this paper we generalize a result in [1], showing that an arbitrary Riemannian symmetric space can be realized as a closed submanifold of a covering group of the Lie group defining the symmetric space. Some properties of the subgroups of…