Given a manifold M M and a proper sub-bundle Δ ⊂ T M \Delta \subset TM , we investigate homotopy properties of the horizontal free loop space Λ \Lambda , i.e., the space of absolutely continuous maps γ : S 1 → M \gamma :S^1\to M whose velocities are constrained to Δ \Delta (for example: legendrian knots in a contact manifold). In the first part of the paper we prove that the base-point map F : Λ → M F:\Lambda \to M (the map associating to every loop its base-point) is a Hurewicz fibration for the W 1 , 2 W^{1,2} topology on Λ \Lambda . Using this result we show that, even if the space Λ \Lambda might have deep singularities (for example: constant loops form a singular manifold homeomorphic to M M ), its homotopy can be controlled nicely. In particular we prove that Λ \Lambda (with the W 1 , 2 W^{1,2} topology) has the homotopy type of a CW-complex, that its inclusion in the standard free loop space (i.e., the space of loops with no non-holonomic constraint) is a homotopy equivalence, and consequently that its homotopy groups can be computed as π k ( Λ ) ≃ π k ( M ) ⋉ π k + 1 ( M ) \pi _k(\Lambda )\simeq \pi _k(M) \ltimes \pi _{k+1}(M) for all k ≥ 0. k\geq 0. In the second part of the paper we address the problem of the existence of closed sub-Riemannian geodesics. In the general case we prove that if ( M , Δ ) (M, \Delta ) is a compact sub-Riemannian manifold, each non-trivial homotopy class in π 1 ( M ) \pi _1(M) can be represented by a closed sub-Riemannian geodesic. In the contact case, we prove a min-max result generalizing the celebrated Lyusternik-Fet theorem: if ( M , Δ ) (M, \Delta ) is a compact, contact manifold, then every sub-Riemannian metric on Δ \Delta carries at least one closed sub-Riemannian geodesic. This result is based on a combination of the above topological results with the delicate study of an analogue of a Palais-Smale condition in the vicinity of abnormal loops (singular points of Λ \Lambda ).
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