Marstrand-Mattila rectifiability criterion for $1$-codimensional measures in Carnot Groups

This paper is devoted to show that the flatness of tangents of $1$-codimensional measures in Carnot Groups implies $C^1_\mathbb{G}$-rectifiability. As applications we prove that measures with $(2n+1)$-density in the Heisenberg groups $\mathbb{H}^n$ are $C^1_{\mathbb{H}^n}$-rectifiable, providing the first non-Euclidean extension of Preiss's rectifiability theorem and a criterion for intrinsic Lipschitz rectifiability of finite perimeter sets in general Carnot groups.