Submersions and curves of constant geodesic curvature

Abstract

Considering Riemannian submersions, we find necessary and sufficient conditions for when sub‐Riemannian normal geodesics project to curves of constant first geodesic curvature or constant first and vanishing second geodesic curvature. We describe a canonical extension of the sub‐Riemannian metric and study geometric properties of the obtained Riemannian manifold. This work contains several examples illustrating the results.