Geodesic
Quadratic mappings in geometric control theory
Itogi Nauki i Tekhniki. Seriya Problemy Geometrii. Trudy Geometricheskogo Seminara, Itogi Nauki i Tekhniki. Seriya "Problemy Geometrii", Tome 20 (1988), pp. 111-205.

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     author = {A. A. Agrachev},
     title = {Quadratic mappings in geometric control theory},
     journal = {Itogi Nauki i Tekhniki. Seriya Problemy Geometrii. Trudy Geometricheskogo Seminara},
     pages = {111--205},
     publisher = {mathdoc},
     volume = {20},
     year = {1988},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/INTG_1988_20_a3/}
}
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A. A. Agrachev. Quadratic mappings in geometric control theory. Itogi Nauki i Tekhniki. Seriya Problemy Geometrii. Trudy Geometricheskogo Seminara, Itogi Nauki i Tekhniki. Seriya "Problemy Geometrii", Tome 20 (1988), pp. 111-205. http://geodesic.mathdoc.fr/item/INTG_1988_20_a3/