Geodesic
(Locally) shortest arcs of special sub-Riemannian metric on the Lie group $SO_0(2,1)$
Algebra i analiz, Tome 27 (2015) no. 1, pp. 3-22 
V. N. Berestovskii. (Locally) shortest arcs of special sub-Riemannian metric on the Lie group $SO_0(2,1)$. Algebra i analiz, Tome 27 (2015) no. 1, pp. 3-22. http://geodesic.mathdoc.fr/item/AA_2015_27_1_a0/
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