Geodesic
High-order variations and small-time local attainability
Control and Cybernetics, Tome 38 (2009) no. 4B, pp. 1411-1427 
Krastanov, Mikhail Ivanov. High-order variations and small-time local attainability. Control and Cybernetics, Tome 38 (2009) no. 4B, pp. 1411-1427. http://geodesic.mathdoc.fr/item/CC_2009_38_4B_a8/
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     author = {Krastanov, Mikhail Ivanov},
     title = {High-order variations and small-time local attainability},
     journal = {Control and Cybernetics},
     pages = {1411--1427},
     year = {2009},
     volume = {38},
     number = {4B},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2009_38_4B_a8/}
}
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