On Jacobi fields and canonical connection in sub-Riemannian geometry

Abstract

In sub-Riemannian geometry the coefficients of the Jacobi equation define curvature-like invariants. We show that these coefficients can be interpreted as the curvature of a canonical Ehresmann connection associated to the metric, first introduced in [Zelenko-Li]. We show why this connection is naturally nonlinear, and we discuss some of its properties.

13 pages, (v2) minor corrections. Final version to appear on Archivum Mathematicum