@article {2012, title = {Sub-Riemannian structures on 3D Lie groups}, journal = {Journal of Dynamical and Control Systems. Volume 18, Issue 1, January 2012, Pages 21-44}, number = {arXiv:1007.4970;}, year = {2012}, publisher = {SISSA}, abstract = {

We give a complete classification of left-invariant sub-Riemannian structures on three dimensional Lie groups in terms of the basic differential invariants. As a corollary we explicitly find a sub-Riemannian isometry between the nonisomorphic Lie groups $SL(2)$ and $A^+(\mathbb{R})\times S^1$, where $A^+(\mathbb{R})$ denotes the group of orientation preserving affine maps on the real line.

}, doi = {10.1007/s10883-012-9133-8}, url = {http://hdl.handle.net/1963/6453}, author = {Andrei A. Agrachev and Davide Barilari} }