Quadratic sufficient conditions for the minimality of abnormal sub-Riemannian geodesics
Itogi nauki i tehniki. Sovremennaâ matematika i eë priloženiâ. Tematičeskie obzory, Selected papers presented at the international conference dedicated to the 90th anniversary of the birth of L. S. Pontryagin (Moscow, Russia, August 31–September 9, 1998). Vol. 4. Optimal control theory, Tome 65 (1999), pp. 5-89.

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     title = {Quadratic sufficient conditions for the minimality of abnormal {sub-Riemannian} geodesics},
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A. V. Dmitruk. Quadratic sufficient conditions for the minimality of abnormal sub-Riemannian geodesics. Itogi nauki i tehniki. Sovremennaâ matematika i eë priloženiâ. Tematičeskie obzory, Selected papers presented at the international conference dedicated to the 90th anniversary of the birth of L. S. Pontryagin (Moscow, Russia, August 31–September 9, 1998). Vol. 4. Optimal control theory, Tome 65 (1999), pp. 5-89. http://geodesic.mathdoc.fr/item/INTO_1999_65_a0/