Geodesic
Singularities of control systems under degeneration of non-holonomic constraints
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 65 (2010) no. 4, pp. 791-793 
I. V. Zakalyukin. Singularities of control systems under degeneration of non-holonomic constraints. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 65 (2010) no. 4, pp. 791-793. http://geodesic.mathdoc.fr/item/RM_2010_65_4_a9/
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