The geometry of finite order jets of submanifolds and the variational formalism

We study the geometry of jets of submanifolds with special interest in the relationship with the calculus of variations. We give a new proof of the fact that higher order jets of submanifolds are affine bundles; as a by-product we obtain a new expression for the associated vector bundles. We use Green-Vinogradov formula to provide coordinate expressions for all variational forms, i.e., objects in the finite-order variational sequence on jets of submanifolds. Finally, we formulate the variational problem in the framework of jets of submanifolds by an intrinsic geometric language, and connect it with the variational sequence. Detailed comparison with literature is provided throughout the paper.