Rolling with random slipping and twisting: A large deviation point of view

We study a rolling model from the perspective of probability. More precisely, we consider a Riemannian manifold rolling against Euclidean space, where the rolling is coupled with random slipping and twisting. The system is modeled by a stochastic differential equation of Stratonovich-type driven by semimartingales on the orthonormal frame bundle. The stability of the system is examined via large deviations. We prove the large deviation principles for the projection curves on the base manifold and their horizontal lifts, respectively, provided that the large deviation holds for the random Euclidean curves as semimartingales. The large deviation results for the case of compact manifolds and two special cases of non-compact manifolds are established.