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  • Print publication year: 2019
  • Online publication date: October 2019

15 - Jacobi Curves


We introduce the Jacobi curve associated with a normal extremal. Heuristically, we would like to extract geometric properties of the sub-Riemannian structure by studying the symplectic invariants of its geodesic flow. The simplest idea is to look for invariants in its linearization. This subject is naturally related to geodesic variations and generalizes the notion of Jacobi fields in Riemannian geometry to more general geometric structures.


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