Submanifolds with boundary and Stokes' Theorem in Heisenberg groups

We introduce and study the notion of $C_{\mathbb{H}}^1$-regular submanifold with boundary in sub-Riemannian Heisenberg groups. As an application, we prove a version of Stokes’ Theorem for $C_{\mathbb{H}}^1$-regular submanifolds with boundary that takes into account Rumin’s complex of differential forms in Heisenberg groups.