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We introduce and study the notion of $C^1_\mathbb{H}$-regular submanifold with boundary in sub-Riemannian Heisenberg groups. As an application, we prove a version of Stokes' Theorem for $C^1_\mathbb{H}$-regular submanifolds with boundary that takes into account Rumin's complex of differential forms in Heisenberg groups., Comment: 30 pages

We solve the contact equivalence problem for generalised sub-Laplacians on $\He^2$ and show that the family of sub-Laplacians on $\He^2$ modulo contact equivalence, is parameterised by $\R^+$

In this paper we characterize the geodesic dimension $N_{GEO}$ and give a new lower bound to the curvature exponent $N_{CE}$ on Sard-regular Carnot groups. As an application, we give an example of step-two Carnot group on which $N_{CE} > N_{GEO}$: this answers a question posed by Rizzi in arXiv:1510.05960v4 [math.MG].

We show that vector fields $b$ whose spatial derivative $D_xb$ satisfies a Orlicz summability condition have a spatially continuous representative and are well-posed. For the case of sub-exponential summability, their flows satisfy a Lusin (N) condition in a quantitative form, too. Furthermore, we prove that if $D_xb$ satisfies a suitable exponential summability condition then the flow associated to $b$ has Sobolev regularity, without assuming boundedness of ${\rm div}_xb$. We then apply these results to the representation and Sobolev regularity of weak solutions of the Cauchy problem for the transport and continuity equations., Comment: 38 pages; Proof of Theorem 6.1 fixed, with a modification of the statements of Theorems 6.1 and D

We discuss Meyers-Serrin's type results for smooth approximations of functions $b=b(t,x):\mathbb{R}\times\mathbb{R}^n\to\mathbb{R}^m$, with convergence of an energy of the form \[ \int_{\mathbb{R}}\int_{\mathbb{R}^n} w(t,x) \varphi\left(|Db(t,x)|\right)\mathrm{d} x \mathrm{d} t\,, \] where $w>0$ is a suitable weight function, and $\varphi:[0,\infty)\to [0,\infty)$ is a convex function with $\varphi(0)=0$ having exponential or sub-exponential growth., Comment: 18 pages; remark 25 extended

Jet spaces on $\mathbb R^n$ have been shown to have a canonical structure of stratified Lie groups (also known as Carnot groups). We construct jet spaces over stratified Lie groups adapted to horizontal differentiation and show that these jet spaces are themselves stratified Lie groups. Furthermore, we show that these jet spaces support a prolongation theory for contact maps, and in particular, a B\"acklund type theorem holds. A byproduct of these results is an embedding theorem that shows that every stratified Lie group of step $s+1$ can be embedded in a jet space over a stratified Lie group of step $s$., Comment: 33 pages; grant acknowledgments corrected; change terminology Carnot/stratified group; add details to an example

In this paper we discuss the convergence of distances associated to converging structures of Lipschitz vector fields and continuously varying norms on a smooth manifold. We prove that, under a mild controllability assumption on the limit vector-fields structure, the distances associated to equi-Lipschitz vector-fields structures that converge uniformly on compact subsets, and to norms that converge uniformly on compact subsets, converge locally uniformly to the limit Carnot-Carath\'eodory distance. In the case in which the limit distance is boundedly compact, we show that the convergence of the distances is uniform on compact sets. We show an example in which the limit distance is not boundedly compact and the convergence is not uniform on compact sets. We discuss several examples in which our convergence result can be applied. Among them, we prove a subFinsler Mitchell's Theorem with continuously varying norms, and a general convergence result for Carnot-Carath\'eodory distances associated to subspaces and norms on the Lie algebra of a connected Lie group.

We study the behavior of Lipschitz functions on intrinsic $C^1$ submanifolds of Heisenberg groups: our main result is their almost everywhere tangential Pansu differentiability. We also provide two applications: a Lusin-type approximation of Lipschitz functions on $\HH$-rectifiable sets, and a coarea formula on $\HH$-rectifiable sets that completes the program started in~\cite{JNGV}., Comment: 16 pages

We approach the quasi-isometric classification questions on Lie groups by considering low dimensional cases and isometries alongside quasi-isometries. First, we present some new results related to quasi-isometries between Heintze groups. Then we will see how these results together with the existing tools related to isometries can be applied to groups of dimension 4 and 5 in particular. Thus we take steps towards determining all the equivalence classes of groups up to isometry and quasi-isometry. We completely solve the classification up to isometry for simply connected solvable groups in dimension 4, and for the subclass of groups of polynomial growth in dimension 5., Comment: 28 pages

We construct intrinsic Lipschitz graphs in Carnot groups with the property that, at every point, there exist infinitely many different blow-up limits, none of which is a homogeneous subgroup. This provides counterexamples to a Rademacher theorem for intrinsic Lipschitz graphs., Comment: 9 pages, 2 figures

We give a complete analytic and geometric description of the horofunction boundary for polygonal sub-Finsler metrics---that is, those that arise as asymptotic cones of word metrics---on the Heisenberg group. We develop theory for the more general case of horofunction boundaries in homogeneous groups by connecting horofunctions to Pansu derivatives of the distance function., Comment: From the previous version, we changed the title, added a section about the action of the group on the boundary, and made general edits. 29 pages, 11 figures

We present a characterization of minimal cones of class $C^2$ and $C^1$ in the first Heisenberg group $\mathbb{H}^1$, with an additional set of examples of minimal cones that are not of class $C^1$., Comment: 13 pages; 4 figures. Final version accepted in Ann. Acad. Sci. Fenn. Math

We consider submanifolds of sub-Riemannian Carnot groups with intrinsic $C^1$ regularity ($C^1_H$). Our first main result is an area formula for $C^1_H$ intrinsic graphs; as an application, we deduce density properties for Hausdorff measures on rectifiable sets. Our second main result is a coarea formula for slicing $C^1_H$ submanifolds into level sets of a $C^1_H$ function.

We give a geometric criterion for a topological surface in the first Heisenberg group to be an intrinsic Lipschitz graph, using planar cones instead of the usual open cones., Comment: 5 pages

We consider left-invariant distances $d$ on a Lie group $G$ with the property that there exists a multiplicative one-parameter group of Lie automorphisms $(0, \infty)\rightarrow\mathtt{Aut}(G)$, $\lambda\mapsto\delta_\lambda$, so that $ d(\delta_\lambda x,\delta_\lambda y) = \lambda d(x,y)$, for all $x,y\in G$ and all $\lambda>0$. First, we show that all such distances are admissible, that is, they induce the manifold topology. Second, we characterize multiplicative one-parameter groups of Lie automorphisms that are dilations for some left-invariant distance in terms of algebraic properties of their infinitesimal generator. Third, we show that an admissible left-invariant distance on a Lie group with at least one nontrivial dilating automorphism is biLipschitz equivalent to one that admits a one-parameter group of dilating automorphisms. Moreover, the infinitesimal generator can be chosen to have spectrum in $[1,\infty)$. Fourth, we characterize the automorphisms of a Lie group that are a dilating automorphisms for some admissible distance. Finally, we characterize metric Lie groups admitting a one-parameter group of dilating automorphisms as the only locally compact, isometrically homogeneous metric spaces with metric dilations of all factors. Such metric spaces appear as tangents of doubling metric spaces with unique tangents., Comment: 29 pages; minor improvement and Theorem F added

Let $\mathscr{L}$ be a smooth second-order real differential operator in divergence form on a manifold of dimension $n$. Under a bracket-generating condition, we show that the ranges of validity of spectral multiplier estimates of Mihlin--H\"ormander type and wave propagator estimates of Miyachi--Peral type for $\mathscr{L}$ cannot be wider than the corresponding ranges for the Laplace operator on $\mathbb{R}^n$. The result applies to all sub-Laplacians on Carnot groups and more general sub-Riemannian manifolds, without restrictions on the step. The proof hinges on a Fourier integral representation for the wave propagator associated with $\mathscr{L}$ and nondegeneracy properties of the sub-Riemannian geodesic flow., Comment: 47 pages

We study homogeneous metric spaces, by which we mean connected, locally compact metric spaces whose isometry group acts transitively. After a review of some classical results, we use the Gleason-Iwasawa-Montgomery-Yamabe-Zippin structure theory to show that for all positive $\epsilon$, each such space is $(1,\epsilon)$-quasi-isometric to a connected metric Lie group. Next, we develop the structure theory of Lie groups to show that every homogeneous metric manifold is homeomorphically roughly isometric to a quotient space of a connected amenable Lie group, and roughly isometric to a simply connected solvable metric Lie group. Third, we investigate solvable metric Lie groups in more detail, and expound on and extend work of Gordon and Wilson and of Jablonski on these, showing, for instance, that connected, simply connected solvable Lie groups may be made isometric if and only if they have the same real-shadow. Finally, we extend a result of Kivioja and Le Donne to show that homogeneous metric spaces that admit a metric dilation are all metric Lie groups with an automorphic dilation., Comment: 60 pages; major rewrite

We study left-invariant distances on Lie groups for which there exists a one-parameter family of homothetic automorphisms. The main examples are Carnot groups, in particular the Heisenberg group with the standard dilations. We are interested in criteria implying that, locally and away from the diagonal, the distance is Euclidean Lipschitz and, consequently, that the metric spheres are boundaries of Lipschitz domains in the Euclidean sense. In the first part of the paper, we consider geodesic distances. In this case, we actually prove the regularity of the distance in the more general context of sub-Finsler manifolds with no abnormal geodesics. Secondly, for general groups we identify an algebraic criterium in terms of the dilating automorphisms, which for example makes us conclude the regularity of homogeneous distances on the Heisenberg group.In such a group, we analyze in more details the geometry of metric spheres. We also provide examples of homogeneous groups where spheres presents cusps., Comment: 31 pages

The paper is devoted to the large scale geometry of the Heisenberg group $\mathbb H$ equipped with left-invariant Riemannian distances. We prove that two such distances have bounded difference if and only if they are asymptotic, i.e., their ratio goes to one, at infinity. Moreover, we show that for every left-invariant Riemannian distance $d$ on $\mathbb H$ there is a unique subRiemanniann metric $d'$ for which $d-d'$ goes to zero at infinity, and we estimate the rate of convergence. As a first immediate consequence we get that the Riemannian Heisenberg group is at bounded distance from its asymptotic cone. The second consequence, which was our aim, is the explicit description of the horoboundary of the Riemannian Heisenberg group., Comment: 26 pages

In this paper, we provide an alternative appraoch to an expectaion of F\"assler et al [J. Geom. Anal. 2016] by showing that a metrically quasiregular mapping between two equiregular subRiemannian manifolds of homogeneous dimension $Q\geq 2$ has a negligible branch set. One main new ingredient is to develop a suitable extension of the generalized Pansu differentiability theory, in spirit of earlier works by Margulis-Mostow, Karmanova and Vodopyanov. Another new ingredient is to apply the theory of Sobolev spaces based on upper gradients developed by Heinonen, Koskela, Shanmugalingam and Tyson to establish the necessary analytic foundations., Comment: 50 pages, major changes based on comments from experts