?
Субримановы геодезические на трёхмерном нильмногообразии Гейзенберга
We study the projection of the left-invariant sub-Riemannian structure on the 3D Heisenberg group G to the Heisenberg 3D nil-manifold M --- the compact homogeneous space of G by the discrete Heisenberg group.
First we describe dynamical properties of the geodesic flow for M: periodic and dense orbits, a dynamical characterization of the normal Hamiltonian flow of Pontryagin maximum principle and its integrability properties.
We show that it is Liouville integrable on a nonzero level hypersurface Σ of the Hamiltonian outside appropriate smaller proper hypersurface in Σ and has no nontrivial analytic integrals
on all of Σ. Then we obtain sharp twoside bounds of sub-Riemannian balls and distance in G, and on this basis we estimate the cut time for sub-Riemannian geodesics in M.