Geodesic
Envelopes of families of wave fronts and control theory
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Singularities of smooth mappings with additional structures, Tome 209 (1995), pp. 133-142.

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     author = {V. M. Zakalyukin},
     title = {Envelopes of families of wave fronts and control theory},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {133--142},
     publisher = {mathdoc},
     volume = {209},
     year = {1995},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_1995_209_a5/}
}
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V. M. Zakalyukin. Envelopes of families of wave fronts and control theory. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Singularities of smooth mappings with additional structures, Tome 209 (1995), pp. 133-142. http://geodesic.mathdoc.fr/item/TM_1995_209_a5/