Geodesic
Differential geometric and group theoretic methods in optimal control theory
Itogi Nauki i Tekhniki. Seriya Problemy Geometrii. Trudy Geometricheskogo Seminara, Itogi Nauki i Tekhniki. Seriya "Problemy Geometrii", Tome 14 (1983), pp. 3-56.

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     author = {A. A. Agrachev and S. A. Vakhrameev and R. V. Gamkrelidze},
     title = {Differential geometric and group theoretic methods in optimal control theory},
     journal = {Itogi Nauki i Tekhniki. Seriya Problemy Geometrii. Trudy Geometricheskogo Seminara},
     pages = {3--56},
     publisher = {mathdoc},
     volume = {14},
     year = {1983},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/INTG_1983_14_a0/}
}
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A. A. Agrachev; S. A. Vakhrameev; R. V. Gamkrelidze. Differential geometric and group theoretic methods in optimal control theory. Itogi Nauki i Tekhniki. Seriya Problemy Geometrii. Trudy Geometricheskogo Seminara, Itogi Nauki i Tekhniki. Seriya "Problemy Geometrii", Tome 14 (1983), pp. 3-56. http://geodesic.mathdoc.fr/item/INTG_1983_14_a0/