We describe how the quadratic Chabauty method may be applied to determine the set of rational points on modular curves of genus $g>1$ whose Jacobians have Mordell–Weil rank $g$. This extends our previous work on the split Cartan curve of level 13 and allows us to consider modular curves that may have few known rational points or non-trivial local height contributions at primes of bad reduction. We illustrate our algorithms with a number of examples where we determine the set of rational points on several modular curves of genus 2 and 3: this includes Atkin–Lehner quotients $X_0^+(N)$ of prime level $N$, the curve $X_{S_4}(13)$, as well as a few other curves relevant to Mazur's Program B. We also compute the set of rational points on the genus 6 non-split Cartan modular curve $X_{\scriptstyle \mathrm { ns}} ^+ (17)$.

The formula of the title relates p-adic heights of Heegner points and derivatives of p-adic L-functions. It was originally proved by Perrin-Riou for p-ordinary elliptic curves over the rationals, under the assumption that p splits in the relevant quadratic extension. We remove this assumption, in the more general setting of Hilbert-modular abelian varieties.

We prove a general formula for the $p$-adic heights of Heegner points on modular abelian varieties with potentially ordinary (good or semistable) reduction at the primes above $p$. The formula is in terms of the cyclotomic derivative of a Rankin–Selberg $p$-adic $L$-function, which we construct. It generalises previous work of Perrin-Riou, Howard, and the author to the context of the work of Yuan–Zhang–Zhang on the archimedean Gross–Zagier formula and of Waldspurger on toric periods. We further construct analytic functions interpolating Heegner points in the anticyclotomic variables, and obtain a version of our formula for them. It is complemented, when the relevant root number is $+1$ rather than $-1$, by an anticyclotomic version of the Waldspurger formula. When combined with work of Fouquet, the anticyclotomic Gross–Zagier formula implies one divisibility in a $p$-adic Birch and Swinnerton-Dyer conjecture in anticyclotomic families. Other applications described in the text will appear separately.