Geodesic
Structure of the local controllability set for a family of $2$-systems on a plane near the zero indicatrix point
Contemporary Mathematics. Fundamental Directions, Proceedings of the International Conference on Mathematical Control Theory and Mechanics (Suzdal, July 3–7, 2009), Tome 42 (2011), pp. 134-151
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In this work it is shown that if certain natural conditions of community of position hold, then critical points of the local controllability set for a $2$-parameter family of $2$-systems on a plane near the point with zero indicatrix of the velocity are well defined by first derivatives of fields of the family at the point. A method to construct this set near such a point is given. 
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M. A. Komarov. Structure of the local controllability set for a family of $2$-systems on a plane near the zero indicatrix point. Contemporary Mathematics. Fundamental Directions, Proceedings of the International Conference on Mathematical Control Theory and Mechanics (Suzdal, July 3–7, 2009), Tome 42 (2011), pp. 134-151. http://geodesic.mathdoc.fr/item/CMFD_2011_42_a12/

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