We derive formulas for the mean curvature of associative 3-folds, coassociative 4-folds, and Cayley 4-folds in the general case where the ambient space has intrinsic torsion. Consequently, we are able to characterize those G2-structures (resp., Spin(7)-structures) for which every associative 3-fold (resp. coassociative 4-fold, Cayley 4-fold) is a minimal submanifold. In the process, we obtain new obstructions to the local existence of coassociative 4-folds in G2-structures with torsion.
Categories: math.DG