General Rough integration, Levy Rough paths and a Levy--Kintchine type formula

We consider rough paths with jumps. In particular, the analogue of Lyons' extension theorem and rough integration are established in a jump setting, offering a pathwise view on stochastic integration against cadlag processes. A class of Levy rough paths is introduced and characterized by a sub-ellipticity condition on the left-invariant diffusion vector fields and and a certain integrability property of the Carnot--Caratheodory norm with respect to the Levy measure on the group, using Hunt's framework of Lie group valued Levy processes. Examples of Levy rough paths include standard multi-dimensional Levy process enhanced with stochastic area as constructed by D. Williams, the pure area Poisson process and Brownian motion in a magnetic field. An explicit formula for the expected signature is given.

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