Geodesic
Control theory on Lie groups
Contemporary Mathematics. Fundamental Directions, Optimal control, Tome 27 (2008), pp. 5-59.

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Yu. L. Sachkov. Control theory on Lie groups. Contemporary Mathematics. Fundamental Directions, Optimal control, Tome 27 (2008), pp. 5-59. http://geodesic.mathdoc.fr/item/CMFD_2008_27_a0/

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