Steiner and tube formulae in 3D contact sub-Riemannian geometry

Abstract

We prove a Steiner formula for regular surfaces with no characteristic points in 3D contact sub-Riemannian manifolds endowed with an arbitrary smooth volume. The formula we obtain, which is equivalent to a half-tube formula, is of local nature. It can thus be applied to any surface in a region not containing characteristic points. We provide a geometrical interpretation of the coefficients appearing in the expansion, and compute them on some relevant examples in three-dimensional sub-Riemannian model spaces. These results generalize those obtained in [Z. M. Balogh, F. Ferrari, B. Franchi, E. Vecchi and K. Wildrick, Steiner’s formula in the Heisenberg group, Nonlinear Anal. 126 (2015) 201–217; M. Ritoré, Tubular neighborhoods in the sub-Riemannian Heisenberg groups, Adv. Calc. Var. 14(1) (2021) 1–36] for the Heisenberg group.