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This book gives an up-to-date account of progress on Pansu's celebrated problem on the sub-Riemannian isoperimetric profile of the Heisenberg group. It also serves as an introduction to the general field of sub-Riemannian geometric analysis. It develops the methods and tools of sub-Riemannian differential geometry, nonsmooth analysis, and geometric measure theory suitable for attacks on Pansu's problem.

The authors give a comprehensive treatment of the parabolic Signorini problem based on a generalization of Almgren's monotonicity of the frequency. This includes the proof of the optimal regularity of solutions, classification of free boundary points, the regularity of the regular set and the structure of the singular set.