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 curvatures. 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.