# American Institue of Mathematical Sciences

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2015, 2015(special): 239-247. doi: 10.3934/proc.2015.0239

## Bridges between subriemannian geometry and algebraic geometry: Now and then

 1 Department of Mathematics, Imperial College, London, 180 Queen's Gate, London SW7 2AZ, United Kingdom 2 Mathematics and Computer Science, Santa Clara University, Santa Clara, CA, United States 3 Department of Mathematics and Statistics, California State University, Sacramento, 6000 J St., Sacramento, CA

Received  September 2014 Revised  February 2015 Published  November 2015

We consider how the problem of determining normal forms for a specific class of nonholonomic systems leads to various interesting and concrete bridges between two apparently unrelated themes. Various ideas that traditionally pertain to the field of algebraic geometry emerge here organically in an attempt to elucidate the geometric structures underlying a large class of nonholonomic distributions known as Goursat constraints. Among our new results is a regularization theorem for curves stated and proved using tools exclusively from nonholonomic geometry, and a computation of topological invariants that answer a question on the global topology of our classifying space. Last but not least we present for the first time some experimental results connecting the discrete invariants of nonholonomic plane fields such as the RVT code and the Milnor number of complex plane algebraic curves.
Citation: Alex L Castro, Wyatt Howard, Corey Shanbrom. Bridges between subriemannian geometry and algebraic geometry: Now and then. Conference Publications, 2015, 2015 (special) : 239-247. doi: 10.3934/proc.2015.0239
##### References:
 [1] V. I. Arnold, Simple singularities of curves,, Proc. Steklov Inst. Math., 226 (1999), 20. [2] V. I. Arnold, A.N. Varchenko, and S. Guzein-Sade, Singularités des Applicants Différentiables,, Editions MIR, (1986). [3] A. Castro, Chains and Monsters,, Ph.D thesis, (2010). [4] A. Castro and W. Howard, A Monster tower approach to Goursat multi-flags,, Differential Geom. Appl., 30 (2012), 405. [5] A. Castro and W. Howard, A Semple-type approach to a problem of Goursat: the multi-flag case,, C. R. Math. Acad. Sci. Paris, 351 (2013), 921. [6] A. Castro and W. Howard, Spelling rules for the Monster/Semple tower,, arXiv:1407.1824., (). [7] A. Castro, R. Montgomery, and appendix by W. Howard, Spatial curve singularities and the Monster/Semple tower,, Israel J. Math., 192 (2012), 381. [8] S. Colley and G. Kennedy, Triple and quadruple contact of plane curves,, Enumerative Algebraic Geometry: Proceedings of the 1989 Zeuthen Symposium, 123 (1991), 31. [9] A. Giaro, A. Kumpera, and C. Ruiz, Sur la Lecture correcte d'un résultat d' Élie Cartan,, C.R. Acad. Sci. Paris Sér. A-B, 287 (1978). [10] J.C. Hausmann and E. Rodriguez, Holonomy orbits of the snake charmer algorithm,, Geometry and Topology of Manifolds, 76 (2007), 207. [11] F. Jean, The car with N trailers: characterisation of the singular configurations,, Control, 1 (1996), 241. [12] S. Kuroki and D. Suh, Classification of complex projective towers up to dimension 8 and cohomological rigidity,, arXiv:1203.4403., (). [13] M. Lejeune-Jalabert, Chains of points in the Semple tower,, Am. J. Math., 128 (2006), 1283. [14] J. Milnor and J. Stasheff, Characteristic Classes,, Princeton University Press, (1974). [15] R. Montgomery and M. Zhitomirskii, Geometric appraoch to Goursat flags,, Ann. Inst. H. Poincaré Anal. Non Linéaire, 18 (2001), 459. [16] R. Montgomery and M. Zhitomirksii, Points and curves in the Monster tower,, Mem. Amer. Math. Soc., 203 (2009). [17] P. Mormul, Geometric classes of Goursat flags and their encoding by small growth vectors,, Central European J. Math., 2 (2004), 859. [18] R. Murray and S. Sastry, Nonholonomic motion planning: steering using sinusoids,, IEEE Trans. Automat. Control, 38 (1993), 700. [19] F. Pelletier and M. Slayman, Configuration of an articulated arm and singularities of special multi-flags,, SIGMA, 10 (2014), 1. [20] C. Shanbrom, The Puiseux characteristic of a Goursat germ,, J. Dynamical and Control Systems, 20 (2014), 33. [21] K. Shibuya and K. Yamaguchi, Drapeau theorem for differential systems,, Differential Geom. Appl., 27 (2009), 793. [22] R. Thom, Quelques propriétés globales des variétés,, Comment. Math. Helv., 28 (1954), 17. [23] C. Wall, Singular Points of Plane Curves,, London Mathematical Society Student Texts, (2004).

show all references

##### References:
 [1] V. I. Arnold, Simple singularities of curves,, Proc. Steklov Inst. Math., 226 (1999), 20. [2] V. I. Arnold, A.N. Varchenko, and S. Guzein-Sade, Singularités des Applicants Différentiables,, Editions MIR, (1986). [3] A. Castro, Chains and Monsters,, Ph.D thesis, (2010). [4] A. Castro and W. Howard, A Monster tower approach to Goursat multi-flags,, Differential Geom. Appl., 30 (2012), 405. [5] A. Castro and W. Howard, A Semple-type approach to a problem of Goursat: the multi-flag case,, C. R. Math. Acad. Sci. Paris, 351 (2013), 921. [6] A. Castro and W. Howard, Spelling rules for the Monster/Semple tower,, arXiv:1407.1824., (). [7] A. Castro, R. Montgomery, and appendix by W. Howard, Spatial curve singularities and the Monster/Semple tower,, Israel J. Math., 192 (2012), 381. [8] S. Colley and G. Kennedy, Triple and quadruple contact of plane curves,, Enumerative Algebraic Geometry: Proceedings of the 1989 Zeuthen Symposium, 123 (1991), 31. [9] A. Giaro, A. Kumpera, and C. Ruiz, Sur la Lecture correcte d'un résultat d' Élie Cartan,, C.R. Acad. Sci. Paris Sér. A-B, 287 (1978). [10] J.C. Hausmann and E. Rodriguez, Holonomy orbits of the snake charmer algorithm,, Geometry and Topology of Manifolds, 76 (2007), 207. [11] F. Jean, The car with N trailers: characterisation of the singular configurations,, Control, 1 (1996), 241. [12] S. Kuroki and D. Suh, Classification of complex projective towers up to dimension 8 and cohomological rigidity,, arXiv:1203.4403., (). [13] M. Lejeune-Jalabert, Chains of points in the Semple tower,, Am. J. Math., 128 (2006), 1283. [14] J. Milnor and J. Stasheff, Characteristic Classes,, Princeton University Press, (1974). [15] R. Montgomery and M. Zhitomirskii, Geometric appraoch to Goursat flags,, Ann. Inst. H. Poincaré Anal. Non Linéaire, 18 (2001), 459. [16] R. Montgomery and M. Zhitomirksii, Points and curves in the Monster tower,, Mem. Amer. Math. Soc., 203 (2009). [17] P. Mormul, Geometric classes of Goursat flags and their encoding by small growth vectors,, Central European J. Math., 2 (2004), 859. [18] R. Murray and S. Sastry, Nonholonomic motion planning: steering using sinusoids,, IEEE Trans. Automat. Control, 38 (1993), 700. [19] F. Pelletier and M. Slayman, Configuration of an articulated arm and singularities of special multi-flags,, SIGMA, 10 (2014), 1. [20] C. Shanbrom, The Puiseux characteristic of a Goursat germ,, J. Dynamical and Control Systems, 20 (2014), 33. [21] K. Shibuya and K. Yamaguchi, Drapeau theorem for differential systems,, Differential Geom. Appl., 27 (2009), 793. [22] R. Thom, Quelques propriétés globales des variétés,, Comment. Math. Helv., 28 (1954), 17. [23] C. Wall, Singular Points of Plane Curves,, London Mathematical Society Student Texts, (2004).
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