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At an interior junction of two unit-speed geodesic segments, let $u$ be the incoming and $v$ the outgoing tangent. Choose points close to the junction in a common convex normal neighbourhood. Moving the junction with velocity $z$ changes the sum of the two segment lengths by $⟨u-v,z⟩$, using the first variation of geodesic energy or the Gauss lemma. If $u\ne v$, choose $z=v-u$ to reduce length. Hence a length-minimizing broken geodesic has matching tangents and is one smooth geodesic.

// Target: riemannian-geometry.bigb

For $p,q\in M$, define the Riemannian distance byA connected smooth manifold is locally path connected, so any two points are joined by a finite concatenation of coordinate paths. Thus the infimum is finite. It is nonnegative, $d_g(p,p)=0$, and reversing a curve proves symmetry. Concatenating two curves whose lengths approach their respective infima proves the triangle inequality.

For positivity and the topology, choose a coordinate ball about $p$ whose closure is contained in a chart. On its closure there are constants $0<c<C$ withA curve staying in the ball has length at least $c$ times its coordinate displacement. A curve leaving it must first reach its boundary, costing at least $c$ times the positive coordinate distance from $p$ to that boundary. Therefore a distinct $q$ has $d_g(p,q)>0$, whether it lies inside or outside the ball. For $q$ sufficiently close to $p$, the coordinate line segment gives $d_g(p,q)\le C|x(q)-x(p)|$, while the preceding lower bounds prevent a short curve from taking a shortcut outside the chart. These inequalities prove that the Riemannian distance induces the manifold topology. In particular it defines a genuine metric space.

A Riemannian manifold is geodesically complete if every maximal affinely parametrized geodesic exists for all real parameter values. We prove both implications of the Hopf-Rinow theorem rather than assuming global distance minimizers.

First assume completeness as a metric space. Let a constant-speed geodesic have a finite maximal right endpoint $b$. The bound $d_g(\gamma (t),\gamma (s))\le c|t-s|$ makes $\gamma (t)$ a Cauchy sequence as $t\uparrow b$, hence gives a limit $p\in M$. The distance topology just established puts the final portion inside a relatively compact coordinate ball about $p$. The positive lower bound on the Riemannian metric bounds all coordinate velocity components. The Christoffel symbols are bounded on the closure of that ball, and the geodesic equationthen bounds the coordinate acceleration. The velocity has a limit $v$ as $t\uparrow b$. Local existence and uniqueness for the geodesic equation with data $(p,v)$ continue $\gamma$ through $b$, contradicting maximality. The same argument applies at a finite left endpoint. Hence metric completeness implies geodesic completeness.

Conversely assume geodesic completeness. Fix $p,q$, put $r=d_g(p,q)>0$, and choose $0<ϵ<r$ so small that a closed radius-$2ϵ$ normal ball about $p$ lies inside a convex normal neighborhood. By the Gauss lemma, its radial geodesics minimize; a curve leaving the larger ball cannot improve on a radius-$ϵ$ radial segment. Thus the radius-$ϵ$ geodesic sphere $S_{ϵ}(p)$ is compact and consists of points at distance exactly $ϵ$ from $p$.

The distance splitting through a small geodesic sphere has an elementary proof here. Every path from $p$ to $q$ must cross $S_{ϵ}(p)$, and its initial portion has length at least $ϵ$. HenceThe triangle inequality proves the reverse bound. Continuity of $d_g(\cdot ,q)$ and compactness give a point $x$ achieving the minimum, so $d_g(x,q)=r-ϵ$. Let $\gamma (t)={\exp }_p(tv)$ be the complete unit-speed radial geodesic through $x$ at time $ϵ$.

Consider the closed subsetIt is nonempty since $ϵ\in A$, and has a largest member $t_{\ast }$. Suppose $t_{\ast }<r$. At $x_{\ast }=\gamma (t_{\ast })$, choose a small normal sphere of radius $\eta <r-t_{\ast }$ and repeat the splitting argument. It supplies a radial endpoint $y$ withThe triangle inequality gives $d_g(p,y)\ge t_{\ast }+\eta$, while the broken path following $\gamma$ to $x_{\ast }$ and then the short radial segment to $y$ has exactly that length. It is therefore minimizing. Its two velocities at the joining point must agree: if unit incoming and outgoing velocities are $u,w$, moving the join in direction $w-u$ changes the sum of lengths by $-|u-w{|}^2$ to first order, using the first variation of geodesic energy or the equivalent unit-speed length formula. A corner would strictly shorten it. Uniqueness of the geodesic equation consequently gives $y=\gamma (t_{\ast }+\eta )$, contradicting the maximality of $t_{\ast }$. Thus $t_{\ast }=r$, $\gamma (r)=q$, and $\gamma {|}_{[0,r]}$ is a minimizing geodesic.

This radial continuation proof of Hopf-Rinow also proves compactness of closed balls. For every $R\ge 0$,The inclusion from right to left follows from the length of a radial geodesic; the reverse inclusion uses the minimizing geodesic just constructed. The Riemannian exponential map is defined on all of $T_{p}M$ by geodesic completeness, and the closed tangent ball is compact in a finite-dimensional vector space. Its continuous image is compact. Every Cauchy sequence is bounded, hence has a convergent subsequence in such a ball, and the Cauchy property makes the whole sequence converge. Therefore geodesic completeness implies metric completeness, completing both directions.

For the hyperbolic plane, use the upper half-plane model with $g=(d{x}^2+d{y}^2)/y^2$, $y>0$. Its geodesic equation isEvery nonconstant unit-speed solution is either a vertical curve $x=a$, $y=b{e}^{\pm t}$ or, after translating and possibly reversing $t$,Substitution verifies both equations and $g(\dot{\gamma },\dot{\gamma })=1$. These curves cover every unit initial tangent: a nonvertical tangent at $(x,y)$ determines the circle center $a=x+y{y}^{\prime }/x^{\prime }$ and radius $R=\sqrt{(x-a{)}^2+y^2}$, and its orientation determines the sign of the parameter. Constant solutions and constant-speed rescalings cover arbitrary initial velocities. In every case $y(t)>0$ for all finite $t$, and the solution is defined for every real $t$. Thus the real hyperbolic plane is geodesically complete, directly, and the proved Hopf-Rinow theorem also makes its distance complete.

Let $\rho (x,y)$ be the common boundary distance function, with $x\ne y$. For each metric, the simple Riemannian manifold property gives a unique unit-speed geodesic from $x$ to $y$, smoothly depending on the endpoint pair. Denote its initial and terminal velocities by $v_i,w_i$.

The first variation of geodesic energy, or equivalently length variation at unit speed, gives the endpoint formulaFor completeness, if $J$ is an endpoint variation along a geodesic, differentiating its length and integrating the covariant derivative by parts givesThe integral vanishes by the geodesic equation, leaving precisely these two boundary terms and their opposite signs.

Because the full metrics agree on the boundary tangent spaces $T_{x}M$, the induced boundary metric $h$, unit spheres and inward unit normals agree there. The displayed covectors therefore determine the same tangential velocity components for the two metrics:Their normal components are fixed by unit length and the entry or exit sign. With inward unit normals ${\nu }_x,{\nu }_y$,Strict convexity makes these signs strict for distinct endpoints. Thus $v_1=v_2$ and $w_1=w_2$ for the same endpoint pair.

Now start with any strictly inward $(x,v)$ and let its $g_1$ exit point be $y$. The $g_2$ geodesic joining $x$ to this same $y$ has the same initial velocity $v$, so uniqueness of the geodesic equation identifies it with the $g_2$ trajectory launched from $(x,v)$. Its exit velocity is also the same. HenceThis is the boundary distance determines geodesic scattering argument. The extension to outward vectors follows by the inverse scattering relation, and tangential vectors are fixed for both metrics. Equality of the travel times follows as well, since both equal $\rho (x,y)$.

Take the normalizationThe first variation of geodesic energy says that the critical points on the fixed-endpoint path space are exactly the affinely parametrized geodesics. The kernel of the second variation of geodesic energy, or Riemannian index form, is the space of Jacobi fields vanishing at both endpoints. Hence a geodesic is a nondegenerate critical point exactly when that space is zero, or equivalently when its terminal endpoint is not a conjugate point to its initial endpoint along the given geodesic.

The Morse index theorem states that the index is the sum of the multiplicities of all conjugate points strictly inside the parameter interval:The multiplicity at the terminal endpoint gives nullity rather than an additional contribution to the index. These statements use the usual Sobolev $H^1$ completion of the path space; smooth paths have the same homotopy type.

First suppose $p\ne q$ as well as $p\ne -q$, and put $\theta =d(p,q)\in (0,\pi )$. There is a unique great circle through these two points. Every critical path runs along it with constant speed, possibly passing around it extra times. Ifthen a complete enumeration without repetitions isIts length is $L=|\ell |$. Equivalently the two positive length lists areThere are no other critical paths, because a nonconstant geodesic of the round sphere is a constant-speed great circle and its plane must contain $p,q$.

To compute conjugate points and indices of round-sphere geodesics, the round unit sphere has constant sectional curvature $1$. Along a geodesic of speed $L$, a normal Jacobi field in a parallel direction satisfies $y^{\prime \prime }+L^{2}y=0$. A field with $J(0)=0$ is therefore a constant multiple of $\sin (Lt)$ in each of the $n-1$ normal directions. Its tangential component satisfies $y^{\prime \prime }=0$ and contributes no endpoint-vanishing field. Consequently the conjugate points occur at $Lt=j\pi$, each with multiplicity $n-1$. Since neither length list contains an integer multiple of $\pi$, all the displayed critical paths are nondegenerate, and the Morse index theorem gives

The permitted case $p=q$ requires separate treatment. There is a constant geodesic, which has index and nullity zero. All other critical paths areFor each $r$, this is a family parametrized by $S^{n-1}$; both directions of traversal are included through $v$ and $-v$. The interior conjugate points number $2r-1$, and the endpoint is also conjugate. ThusThese are Morse-Bott critical manifolds for $n>1$, rather than nondegenerate critical points. For $n=1$ the same formulas give zero index and nullity, with the two isolated directions comprising $S^0$.

For the requested homology calculation, choose distinct nonantipodal endpoints. Concatenation with a fixed path back to the basepoint gives a homotopy equivalence between this fixed-endpoint path space and the based loop space $\Omega S^n$. We use the Morse cell-attachment theorem for geodesic energy: on a complete compact Riemannian manifold, the fixed-endpoint energy, when all its critical points are nondegenerate, gives a CW complex of the same homotopy type with one cell of dimension equal to the index of each critical point. One can obtain this theorem from finite-dimensional broken-geodesic approximations and ordinary Morse theory; critical energy values tend to infinity here.

The two index lists interleave to give exactly one cell in every dimension $j(n-1)$, $j\ge 0$. If $n>2$, these dimensions are separated by at least two. The cellular homology groups therefore have zero boundary maps, since no occupied cell dimension has an occupied dimension one lower. With integer coefficients,This determines the graded abelian groups. The argument does not need an identification of the multiplication on loop-space homology.

Finally apply the Freudenthal suspension theorem: for an $(n-1)$-connected based CW complex $X$, $n\ge 2$, the suspension homomorphismis an isomorphism for $k\le 2n-2$ and a surjection for $k=2n-1$. A sphere $S^n$ is $(n-1)$-connected, and its reduced suspension of a topological space is homeomorphic to $S^{n+1}$. HenceThe isomorphism is the suspension map. Its stable range is also reflected by the Morse theory cell structure of $\Omega S^{n+1}$: after its bottom $n$-cell, the next positive-dimensional cell has dimension $2n$. For the stated homology problem $n>2$, all the connectivity hypotheses apply.