@article{SM_2018_209_5_a3,
     author = {L. V. Lokutsievskiy and Yu. L. Sachkov},
     title = {Liouville integrability of {sub-Riemannian} problems on {Carnot} groups of step 4 or greater},
     journal = {Sbornik. Mathematics},
     pages = {672--713},
     publisher = {mathdoc},
     volume = {209},
     number = {5},
     year = {2018},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/SM_2018_209_5_a3/}
}