Geodesic
The inner geometry of non-linear non-holonomic manifolds
Matematičeskij sbornik, Tome 55 (1943) no. 1, pp. 135-167.

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     title = {The inner geometry of non-linear non-holonomic manifolds},
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B. Вагнер. The inner geometry of non-linear non-holonomic manifolds. Matematičeskij sbornik, Tome 55 (1943) no. 1, pp. 135-167. http://geodesic.mathdoc.fr/item/MS_1943__55_1_a6/