Laboratoire de Mathématiques Raphaël Salem

UMR 6085 CNRS - University of Rouen Normandy

The aim of this talk is to show two topics in sub-Riemannian geometry. On the one hand, the local approximation of an almost-Riemannian structure at singular points, where the nilpotent approximation loses the original structure, and on the other hand, the kinematic system of a manifold rolling on another manifold without twisting or slipping, particularly a numerical implementation of the Continuation Method when a 2-dimensional manifold rolling on the Euclidean plane with forbidden regions.