Differential Geometry – Vanishing of Curvature Tensor and Path Independence of Parallel Transport

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It can be shown that the curvature tensor measures the path independence of parallel transport only to second order.

This is somewhat understandable as we want a local (pointwise) measure of curvature, so it should be natural that $R$ essentially measures "infinitesimal" parallel transport.

It is however accepted that the curvature tensor represents the total obstruction for the integrability of parallel transport. The usual argument that proves $"R=0"\Longrightarrow \ "M$ is flat$"$ involves having an arbitrary frame $e_{(i)}$ at some point $p$ of the manifold and parallel transporting it to every other point. Since parallel transport is path independent, the result is unambigous and thus we have a parallel frame.

Question: How is the second order path independence implied by the vanishing of the curvature tensor enough for finite parallel transport to be integrable?

I have a feeling this might be trivial, but I am nontheless confused!

Best Answer

Your question is not trivial and any proof of it that I know uses the Frobenius theorem which is a non-trivial analytic result. Let me give you an analogy which is in fact a particular case of what you're asking. Assume you have a one-form $\omega$ on some open ball $B$ in $\mathbb{R}^n$ and you want to determine a condition which guarantees that the path integral of $\omega$ depends only on the end points. Starting with such $\omega$, fix a point $p \in B$ and define a potential function $f \colon B \rightarrow \mathbb{R}$ by the formula

$$ f(x) = \int_p^x \omega $$

where the integral is done over any path which connects $p$ to $x$. Since $f$ is a smooth function, the second mixed partial derivatives of $f$ must commute and by calculating them, we see that this happens iff $d\omega = 0$. Hence, a necessary condition for the path independence of the integral is that $d\omega = 0$. This is a first order condition on $\omega$. However, by differentiating again we can get higher order conditions on $\omega$ which are also necessary. A priori, it is not clear at all that $d\omega = 0$ should be sufficient to obtain path independence but this is indeed the case which is the content of Poincare's lemma.

The situation with curvature is the same. If you have a rank $k$ vector bundle $E$ over $B$ with a connection, fix some trivialization $(e_1,\dots,e_k)$ and consider the associated connection $1$-form $\omega$ which is a lie-valued one-form. If the parallel transport is independent of the path, you can define a "potential" function $f \colon B \rightarrow \operatorname{GL}_k(\mathbb{R})$ by requiring that

$$ P_{\gamma,p,x}(e_i(p)) = f(x)_{i}^{j} e_j(x). $$

That is, $f(x)$ tells you the matrix you need to "multiply" the frame $(e_1(x),\dots,e_k(x))$ in order to get the parallel transport of the frame $(e_1(p),\dots,e_k(p))$ from $p$ to $x$ along some (any) path. By calculating "the second derivative" of $f$, you'll see that the curvature $d\omega + \omega \wedge \omega$ must vanish and by differentiating again, you'll get other, higher order, necessary conditions in terms of $\omega$ for the path-independence of the parallel transport. However, the condition $d\omega + \omega \wedge \omega = 0$ will turn out to be sufficient by the Frobenius theorem.

If $E$ is a rank $1$-bundle then $\omega$ is a $\mathbb{R}$-valued form and the curvature becomes $d\omega$ so everything boils down to the previous case (and indeed, the Poincare lemma can be proved using the Frobenius theorem).