Transnormal functions on a Riemannian manifold

We extend theorems of É. Cartan, Nomizu, Münzner, Q.M. Wang, and Ge–Tang on isoparametric functions to transnormal functions on a general Riemannian manifold. We show that if a complete Riemannian manifold M admits a transnormal function, then M is diffeomorphic to either a vector bundle over a submanifold, or a union of two disk bundles over two submanifolds. Moreover, a singular level set Q is austere and minimal, if exists, and generic level sets are tubes over Q. We give a criterion for a transnormal function to be an isoparametric function.