Geodesic
Singularities in the calculus of variations
Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Noveishie Dostizheniya, Itogi Nauki i Tekhniki. Seriya "Sovremennye Problemy Matematiki", Tome 22 (1983), pp. 3-55
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A survey is given of theories of singularities of systems of rays and wave fronts, that is, singularities of systems of extremals of variational problems and solutions of the Hamilton–Jacobi equations near caustics. The problem of passing about an obstacle bounded by a smooth surface of general position is studied in detail. Theorems are proved on the normal forms of Lagrangian manifolds with singularities formed by rays of the system of extremals of a variational problem in the symplectic space of all oriented lines which tear off from the surface of the obstacle as well as theorems on Legendre manifolds with singularities formed by contact elements of a wave front and 1-jets of a solution of the Hamilton–Jacobi equation. 
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     author = {V. I. Arnol'd},
     title = {Singularities in the calculus of variations},
     journal = {Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Noveishie Dostizheniya},
     pages = {3--55},
     year = {1983},
     volume = {22},
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     url = {http://geodesic.mathdoc.fr/item/INTD_1983_22_a0/}
}
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V. I. Arnol'd. Singularities in the calculus of variations. Itogi Nauki i Tekhniki. Seriya Sovremennye Problemy Matematiki. Noveishie Dostizheniya, Itogi Nauki i Tekhniki. Seriya "Sovremennye Problemy Matematiki", Tome 22 (1983), pp. 3-55. http://geodesic.mathdoc.fr/item/INTD_1983_22_a0/