The fundamental theorem of curves and classifications in the Heisenberg groups

We study the horizontally regular curves in the Heisenberg groups $H_n$. We show the fundamental theorem of curves in $H_n$ $(n\geq 2)$ and define the concept of the orders for horizontally regular curves. We also show that the curve $\gamma$ is of order $k$ if and only if $\gamma$ lies in $H_k$ but not in $H_{k-1}$ up to a Heisenberg rigid motion; moreover, two curves with the same order differ from a rigid motion if and only if they have the same p-curvatures and contact normality. Thus, combining with our previous work we have completed the classification of horizontally regular curves in $H_n$ for $n\geq 1$.