Geodesic
Parametrizations of level surfaces of real-valued mappings of Carnot groups
Matematičeskie trudy, Tome 15 (2012) no. 2, pp. 3-29

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We study the regularity of the parametrizations of level surfaces of continuously horizontally differentiable real-valued mappings of Carnot groups. Equations that describe a regular hypersurface in terms of parametrizations are obtained. 
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     author = {S. G. Basalaev},
     title = {Parametrizations of level surfaces of real-valued mappings of {Carnot} groups},
     journal = {Matemati\v{c}eskie trudy},
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S. G. Basalaev. Parametrizations of level surfaces of real-valued mappings of Carnot groups. Matematičeskie trudy, Tome 15 (2012) no. 2, pp. 3-29. http://geodesic.mathdoc.fr/item/MT_2012_15_2_a0/