%0 Journal Article %J Calculus of Variations and Partial Differential Equations. Volume 43, Issue 3-4, March 2012, Pages 355-388 %D 2012 %T On the Hausdorff volume in sub-Riemannian geometry %A Andrei A. Agrachev %A Davide Barilari %A Ugo Boscain %X For a regular sub-Riemannian manifold we study the Radon-Nikodym derivative\r\nof the spherical Hausdorff measure with respect to a smooth volume. We prove\r\nthat this is the volume of the unit ball in the nilpotent approximation and it\r\nis always a continuous function. We then prove that up to dimension 4 it is\r\nsmooth, while starting from dimension 5, in corank 1 case, it is C^3 (and C^4\r\non every smooth curve) but in general not C^5. These results answer to a\r\nquestion addressed by Montgomery about the relation between two intrinsic\r\nvolumes that can be defined in a sub-Riemannian manifold, namely the Popp and\r\nthe Hausdorff volume. If the nilpotent approximation depends on the point (that\r\nmay happen starting from dimension 5), then they are not proportional, in\r\ngeneral. %B Calculus of Variations and Partial Differential Equations. Volume 43, Issue 3-4, March 2012, Pages 355-388 %I SISSA %G en %U http://hdl.handle.net/1963/6454 %1 6399 %2 Mathematics %4 1 %# MAT/05 ANALISI MATEMATICA %$ Submitted by Andrei Agrachev (agrachev@sissa.it) on 2013-02-05T13:55:36Z\r\nNo. of bitstreams: 1\r\n1005.0540v3.pdf: 352986 bytes, checksum: 7d3e71cad3c7ff917dc8769ba4cd96c5 (MD5) %R 10.1007/s00526-011-0414-y