A Whitney extension problem for manifolds

The purpose of this paper is to address a manifold-based version of Whitney's extension problem: Given a compact set E⊂Rn, how can we tell if there exists a d-dimensional, Cm-smooth manifold M⊃E? We provide an answer for compact manifolds with boundary in terms of a Glaeser refinement much like that used in the solution of the classical Whitney extension problem and a topological condition. This condition is the existence of a continuous selection for Grassmannian-valued functions, meant to reflect the collection of possible tangent spaces. We demonstrate the necessity of this condition in general and its non-redundancy in an example, while also showing it need not be checked when d=1.