Sub-Riemannian geodesics on the Heisenberg 3D nil-manifold
Sub-Riemannian geodesics on the Heisenberg 3D nil-manifold
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, and a dynamical …