Note on geometric algebras and control problems with SO(3)-symmetries

We study the role of symmetries in control systems by means of geometric algebra approach. We discuss two specific control problems on Carnot group of step 2 invariant with respect to the action of$SO(3). We understand geodesics as curves in suitable geometric algebras which allows us to asses an efficient algorithm for local control.

On rectifiable measures in Carnot groups: representation

This paper deals with the theory of rectifiability in arbitrary Carnot groups, and in particular with the study of the notion of $$\mathscr {P}$$ P -rectifiable measure. First, we show that in arbitrary Carnot groups the natural infinitesimal definition of rectifiabile measure, i.e., the definition given in terms of the existence of flat tangent measures, is equivalent to the global definition given in terms of coverings with intrinsically differentiable graphs, i.e., graphs with flat Hausdorff tangents. In general we do not have the latter equivalence if we ask the covering to be made of intrinsically Lipschitz graphs. Second, we show a geometric area formula for the centered Hausdorff measure restricted to intrinsically differentiable graphs in arbitrary Carnot groups. The latter formula extends and strengthens other area formulae obtained in the literature in the context of Carnot groups. As an application, our analysis allows us to prove the intrinsic $$C^1$$ C 1 -rectifiability of almost all the preimages of a large class of Lipschitz functions between Carnot groups. In particular, from the latter result, we obtain that any geodesic sphere in a Carnot group equipped with an arbitrary left-invariant homogeneous distance is intrinsic $$C^1$$ C 1 -rectifiable.

Space of signatures as inverse limits of Carnot groups

We formalize the notion of limit of an inverse system of metric spaces with $1$-Lipschitz projections having unbounded fibers. The construction is applied to the sequence of free Carnot groups of fixed rank $n$ and increasing step. In this case, the limit space is in correspondence with the space of signatures of rectifiable paths in $\mathbb R^n$, as introduced by Chen. Hambly-Lyons's result on the uniqueness of signature implies that this space is a geodesic metric tree. As a particular consequence we deduce that every path in $\mathbb R^n$ can be approximated by projections of some geodesics in some Carnot group of rank $n$, giving an evidence that the complexity of sub-Riemannian geodesics increases with the step.

Quasiconformal maps on a 2-step Carnot group

We find all global quasiconformal maps (with respect to the Carnot metric) on a particular [Formula: see text]-step Carnot group. In particular, all the global quasiconformal maps of this Carnot group permute the left cosets of the center, verifying a conjecture by Xie for this particular case.

Sharp measure contraction property for generalized H-type Carnot groups

We prove that H-type Carnot groups of rank [Formula: see text] and dimension [Formula: see text] satisfy the [Formula: see text] if and only if [Formula: see text] and [Formula: see text]. The latter integer coincides with the geodesic dimension of the Carnot group. The same result holds true for the larger class of generalized H-type Carnot groups introduced in this paper, and for which we compute explicitly the optimal synthesis. This constitutes the largest class of Carnot groups for which the curvature exponent coincides with the geodesic dimension. We stress that generalized H-type Carnot groups have step 2, include all corank 1 groups and, in general, admit abnormal minimizing curves. As a corollary, we prove the absolute continuity of the Wasserstein geodesics for the quadratic cost on all generalized H-type Carnot groups.